Box Stamping Fanuc Robot

For a final project in my robotics class I programmed a 200 iB Fanuc Robot to take a rubber stamp in its end Effector to an ink pad, gently tap it to get ink on it and then stamp the box. That entire sequence can only be triggered if a ferrous contact sensor was triggered (note that we did Not have a nonferrous contact sensor at the time but was given credit for proof of concept). If the sensor was giving off no input then the robot will be in its home position.

The other idea I had was to model and 3D print a scoop that would attach to the end effector and program the robot to scoop ice cream into a bowl if there was a bowl detected in a specific location. You can see the CAD model for the scoop end effector bellow. The reason I chose the stamp was because I did not want to deal with the ice cream melting.

These two videos demonstrate the robot in action.

These images show the code on the teach pendant

Measurements I made for the end effector

My CAD models for the two concepts.