Zellige is a traditional Moroccan art for decorating walls and floors of mosques, houses and public buildings. There are three steps to manufacture zellige: firstly manufacturing the tiles, then cut them, and finally turned them upside. To secure them better, we have to spray them with water and cover them with cement. Once dried the whole set can be returned.
Setting the tiles on the floor is the most difficult step, so we thought to automate this task with a robot manipulator, which will put the tiles of zellige upside on the ground, and this in order to:
-Facilitate the task to the artisans.
In order to do this, our robot must have:
at System level :
- The workspace assembly of zellige frames is not to exceed a limit of 1 m2, to avoid the risk of destroying the assembled pattern when the robot is moving.
- 3 manipulators: to reduce the time of the realization.
- 2 rails: to move (rack and pinion system) to have a very good accuracy.
- zellige frame stores: each one contains a specific form and color.
Command level :
This robot will use image processing for that, we thought to use:
- a PC104 equipped with embedded operating system in real-time (linux), which is characterized by a high computing power and data storage in a small space.
- Gripper: it releases a drop of special and temporary glue and put it down on the frame to lift it
Each arm is associated with 3 grippers, the first for small size frames, another for the average ones, and the third for the large-sizes.
- Presence Sensor
Through image processing, the robot can turn the tiles of zellige upside on the floor, the robot has a PC104 that shows the situation of robot in real time and it is guided by the color sensors and presence sensors.
The robot has on his right different shops that contain the tiles, and on the left an array of 1*2m where the tiles will be putted upside.
To lift the zellij tiles, the gripper of the robot releases a drop of glue on the frame so the frame stack in the gripper, once the frame reached the desired place, a hydraulic jack push the tile to detach them from the gripper.