The crane has 3 axis, the track axis is runned by an stepper motor against an gear rack. The hoist and fork axis is moved with electric cylinders from SMC.
Controller/CPU: Arduino Mega
Stepper motor, SMC electric cylinder
The stacker crane was built for an fair in Sweden. The goal of the robot cell was to let visitors enter there initials on the robot flexpendant and also which candy box the wanted to get the initials printed on. Then the stacker crane got the pallet with the candy box to an position where the robot could get the box.
The robot printed the initials on the box en dropped it in an outlet where the visitors could get his costume printed box.
The robot would also refill all the pallets after some wait time or if an pallet got emptied. All ordering of pallets was handled true serial communication between the robot and the Arduino Mega in the stacker crane.