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Pick and Place Sequencer

Run the Pick and Place Sequencer MicroSim Fullscreen

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<iframe src="https://dmccreary.github.io/robot-arm/sims/pick-and-place-sequencer/main.html"
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Description

Read the eight steps of a pick-and-place task, each with the reason it comes where it does. Then put eight shuffled step cards into the right order, with three attempts to get them all in place. Used in Chapter 11.

The eight steps are the states of the pick-and-place state machine in Chapter 11: approach, descend, grasp, lift, transport, lower, release and retreat.

To move a card, tap it and press Move up or Move down. After each Check the sim says how many cards are in the right place and marks the ones that are not, without saying where they belong.

Lesson Plan

Grade level: Middle school and up (age 12+). Time: 10 to 15 minutes.

  1. Explore. Tap each of the eight steps and read why it goes where it does.
  2. Act it out. Pick up a pen from the desk and put it down somewhere else, slowly. Name each step as your hand does it. Which steps go straight up or straight down?
  3. Exercise. Switch to the exercise. Tap a card and use Move up and Move down until the order looks right, then press Check. You have three attempts.
  4. Think about it. Why does the arm check its grasp before it lifts, and why does it go up before it moves away?

Specification

The learning objective, evidence of mastery and content for this MicroSim are specified in Chapter 11: Moving the Arm: Trajectories, Grippers, and Teleoperation.