Manufacturing Track

Overview:

In Task 1, a manufacturing task board is premade and placed on a table alongside a bowl. All 

CAD models are available and should be leveraged where possible. During the first subtask, 

nuts, gears, pegs, and male electrical connectors are already inserted on the board. The goal is to 

remove all nuts, gears, pegs, and male connectors from the board, and place them in a bowl

located adjacent to the board. During the next subtask, the same task board and parts will be 

used where nuts, gears, pegs, and male electrical connectors are placed in a kit. A kit is a 

collection of parts where parts are often organized in a portable tray. The parts can be fixtured 

within the tray or randomly placed on the tray. The goal is to remove all nuts, gears, pegs, and 

male connectors from the kit, and place them in the task board. Basic points are scored for 

completing the assembly/disassembly operations using an autonomous robot system. Bonus 

points are awarded based on the following:

1) Teams fixture the task board, kit/bowl and individual part locations within the kit (lead 

through programming technique) – no bonus points

2) Teams use a marker based perception system (e.g. reflectors, AR tags, QR codes), where 

markers are attached to the board/kit/bowl to determine their locations and parts locations 

within the kit are known to competitors. – partial bonus points (Tier 1)

3) Teams use perception system (no markers) to locate board, kit/bowls, and all parts that 

are placed randomly within the kit. – full bonus points (Tier 2)

 

Task 1: Board Assembly/Disassembly

Parts (figure 1a & 1b):

1) Board with slip-fit holes for pegs, bolts, female connectors, and gear guide rods. 

2) Standard metric nuts of various sizes

3) Standard metric gears of various pitch diameters

4) Metric pegs of various diameters and cross-sectional shapes

5) Various male electrical connectors

6) Bowl from service track

7) Randomized kit for placing parts to be picked up (subtask 2 only)

This task consists of the following two subtasks:

Subtask 1: Board Disassembly

Subtask 2: Board Assembly
(a)

(b)

Figure 1: (a) Task board and base parts prior to assembly, (b) Fully assembled task board

Subtask 1: Task Board Disassembly

Difficulty: Level 4

Description:

A fully assembled manufacturing task board is placed on the table alongside a bowl. 

Its location can be predefined by the team or arbitrarily placed within a defined region by 

the competition staff to test perception solutions. Perception solutions qualify for bonus 

points as indicated in the scoring section below. Nuts, gears, pegs, and male 

electrical connectors are already inserted on the board. The goal is to remove all 

nuts, gears, pegs, and male connectors from the board, and place them in the bowl. 

Points are assessed on a per part basis.

Base Time Limit: 20 minutes

Number of parts to disassemble: 20

Achievable Points: 100 (includes maximum perception bonus) + Time bonus
Setup:

1) Team fixes location or judge randomizes location (for bonus points) of

assembled task board on table (see Figure 2)

2) Team fixes location or judge randomizes location (for bonus points) of bowl on 

table

Figure 2: Layout for subtask 1

Steps:

1) The robot system disassembles a part from the task board

2) The robot system places the removed part into the bowl

3) Repeat steps 1 and 2 for each part

Scoring: 

1) 2 points for each part removed from the board

2) 1 point for each part placed into the bowl

3) Perception Bonus:

a. 1 bonus point for each part removed from boards that were located using 

board mounted markers (e.g. reflectors, AR tags, QR codes)

-orb. 2 bonus points for each part remove using an independent perception system 

(no markers attached to board)

4) Time Bonus:

a. Boards that were located using board mounted markers (e.g. reflectors, AR 

tags, QR codes)

Time bonus = INT((base time[sec] – spent time[sec]) /20) x 1 point

b. Using an independent perception system (no markers attached to board)

Time bonus = INT((base time[sec] – spent time[sec]) /10) x 1 point 

Rules:

1) All bonus points are forfeited if manual registration, lead through programming is 

used, or placement of task board and bowl in team specified locations.
2) Time bonus points are only available if all 20 parts are successfully disassembled 

and placed into the bowl.

3) A part is considered removed from the task board even if it is dropped by the 

robot system.

4) No manual or teleoperated intervention by human operator (e.g., no manual tool 

changes).

5) No restriction on number of arms, grippers, sensors used.

6) Use of hand tools is allowed provided the robot acquires these tools without 

human assistance.

7) Markers may not be placed on the individual parts to be disassembled and these 

parts cannot be modified in any way.

8) Working area is the area where the end-effector of the robot is allowed to move. 

The maximum size of the working area is the table top which is estimated to be 

1.5 x 0.75 meters. Judges will work with teams to achieve random placement of 

board and kits fits within the dexterous work volume of the robot system. 

9) Multiple resets are allowed within the subtask. The robot system must resume 

autonomous operation at the point of failure.

Subtask 2: Task Board Assembly

Base Time Limit: 40 minutes

Number of parts to assemble: 20

Achievable Points: 200 (includes maximum perception bonus) + Time bonus

Description: 

The manufacturing task board and kit is placed on the table. Location can be 

predefined by the team or arbitrarily placed within a defined region by the 

competition staff to test perception solutions. Perception solutions qualify for bonus 

points as indicated in the scoring section below. Nuts, gears, pegs, and male 

electrical connectors are placed on their respective locations on the kit, with optional 

randomized layout. The goal is to pick all nuts, gears, pegs, and male connectors 

from the kit, and assemble them into their defined locations on task board. Points 

are assessed on a per part basis.

Setup:

1) Team fixes location or judge randomizes location (for bonus points) of 

disassembled (empty) task board on table (see Figure 3)

2) Team fixes location or judge randomizes location (for bonus points) of kit on table

3) Parts to be assembled are placed in respective locations on kit fixed by teams or 

randomized by judges (for bonus points)
Figure 3: Layout for subtask 2

Steps:

1) The robot system picks up a part from the kit 

2) The robot system assembles the part into its location on the board.

3) Repeat steps 1 and 2 for each part.

Scoring:

1) 2 points for each part that is picked up from the kit layout.

2) 1 points if the part contacts the assembly board surface before the grasp is 

removed, including drops onto this surface.

3) Up to 3 points for each part assembled using the following criteria

Part Type Points Description

nuts 2 Nut cannot be lifted off bolt and freely turns to tighten

1 Nut is fully threaded and seated against board

gears 2 Insert gear onto shaft seated against board

1 Gear mesh (1st gets a point when 2nd gear is meshed with it)

pegs 2 Insertion into hole

1 Constrain bottom of beg against underlying surface to board

connectors 2 Insertion into corresponding connector

1 Fully seated or snapped connection

4) Perception Bonus:

a. 1 bonus point for each part that is picked up from the kit layout using kit 

mounted perception markers (e.g. retro-reflectors, AR tags, QR codes). In 

this case, the teams can fix markers to the kit. Teams can use any method to 

secure the parts location in the kit.

-orb. 2 bonus points for each part that is picked up from the kit layout using an 

independent perception system (no markers attached to kit). Part locations 

with the kit are set by competition staff and are unknown to the teams.

-and-
c. 1 bonus point for each part assembled that receives at least 2 assembly 

points per the above table using board mounted perception sensors (e.g. 

retro-reflectors, AR tags, QR codes)

-ord. 2 bonus points for each part assembled that receives at least 2 assembly 

points per the above table using an independent perception system (no 

markers attached to board)

5) Time Bonus:

a. Completed boards that were located using board mounted markers (e.g. 

reflectors, AR tags, QR codes)

Time bonus = INT((base time[sec] – completion time[sec]) /20) x 1 point

b. Completed boards that used an independent perception system (no markers 

attached to board)

Time bonus = INT((base time[sec] – completion time[sec]) /10) x 1 point 

Rules:

1) All bonus points are forfeited if manual registration, lead through programming is 

used, or placement of task board and bowl in team specified locations

2) Time bonus points are only available if all 20 parts are successfully assembled 

onto the board. 

3) No manual or teleoperated intervention by human operator (e.g., no manual tool 

changes)

4) No restriction on number of arms, grippers, sensors used

5) Use of hand tools is allowed provided the robot acquires these tools without 

human assistance

6) Points only awarded for assembly of a part into its designated location. (e.g. no 

points for inserting 8mm peg into 16 mm hole)

7) Markers may not be placed on the individual parts to be assembled and these 

parts cannot be modified in any way

8) Randomized locations may require reorientation of parts to be assembled

9) Working area is the area where the end-effector of the robot can move. The 

maximum size of the working area is the table top which is estimated to be 1.5 x 

0.75 meters. Prior to the competition, competitors must mark the dexterous work 

volume of the robot system using tape.

10)Multiple resets are allowed within the subtask. The robot system must resume

autonomous operation at the point of failure.

Time Shift : 60 (=20 + 40) minutes are allotted to each team including setup time for completing subtask 

1 and subtask 2. A team can stop subtask 1 and move on to subtask 2 anytime. Subtask 1 may not be 

worked once subtask 2 is started. A team can divide the time between subtasks as desired. After 60 

minutes, Task 1 activities must be stopped. Note: Time for placing the parts and tray at arbitrary location 

by competition staffs will be excluded from 60 minutes allotted time.

Communications: Using wireless communication like as Wi-Fi is not limited. But the organizing 

committee does not guarantee the communication quality at the venue.
Scoring Sheet

(for referee use only)

Team Name: _______________

Manufacturing Track 

TASK 1 (Assembly/Disassembly)

Sub Task 1 (Disassembly)

Base time: 20 minutes

Date: September 26, 2017

Select one of the following:

 Lead Through Programing

 Tier 1 – (marker based perception)

 Tier 2 – (perception used with no markers)

Start 

(hh:mm:ss)

End 

(hh:mm:ss)

Total Time [sec]

 : : : : 

Referee Name: ________________________

Signature: ________________________

This section to be completed by the Organizing Committee

 Time bonus eligibility (all 20 tasks completed below and spent time < 1200 sec)

 

Time bonus = INT((1200 –_____________) / _________) x 1 point = ___________points

 Total Time[sec] Tier 1 = 10

 Tier 2 = 20

Disassemble

Drop in Bowl

Perception Bonus

Time Bonus

Total
Part # Description Disassemble

(2 point)

Drop in Bowl

(1 point)

Perception Bonus

 Tier 1 - 1 point

 Tier 2 - 2 point

1 16 mm Peg

2 RJ45 Male Connector

3 M12 Nut

4 12 mm x 8 mm Peg

5 USB Male Connector

6 M8 Nut

7 8mm x 7mm Peg

8 BNC Male Connector

9 4mm x 4mm Peg

10 Large Gear

11 Medium Gear

12 Small Gear

13 DSUB Male Connector

14 8 mm Peg

15 4 mm Peg

16 Male Waterproof Connector

17 M4 Nut

18 M16 Nut

19 16mm x 10 mm Peg

20 12 mm Peg

Total
Scoring Sheet

(for referee use only)

Team Name: ____________________

Manufacturing Track 

TASK 1 (Assembly/Disassembly)

Sub Task 2 (Assembly)

Base time: 40 minutes

Date: September 26, 2017

Select one of the following:

 Lead Through Programing

 Tier 1 – (marker based perception)

 Tier 2 – (perception used with no markers)

Start 

(hh:mm:ss)

End 

(hh:mm:ss)

Total Time [sec]

 : : : : 

Referee Name: ________________________

Signature: ________________________

This section to be completed by the Organizing Committee

 Time bonus eligibility (all 20 tasks completed below and spent time < 1200 sec)

 

Time bonus = INT((2400 –_____________) / _________) x 1 point = ___________points

 Total Time[sec] Tier 1 = 10

 Tier 2 = 20

Pick-Up

Contact Board

Assemble

Perception Bonus

Time Bonus

Total
Part Description Pick-Up

(2 point)

Contact 

Board

(1 point)

Assemble

(use point table)

Perception

 Tier 1 - 1 point

 Tier 2 - 2 point

Pick Up Assembly

1 16 mm Peg

2 RJ45 Male Connector

3 M12 Nut

4 12 mm x 8 mm Peg

5 USB Male Connector

6 M8 Nut

7 8mm x 7mm Peg

8 BNC Male Connector

9 4mm x 4mm Peg

10 Large Gear

11 Medium Gear

12 Small Gear

13 DSUB Male Connector

14 8 mm Peg

15 4 mm Peg

16 Male Waterproof 

Connector

17 M4 Nut

18 M16 Nut

19 16mm x 10 mm Peg

20 12 mm Peg

Total

Assembly Point Table:

Part Type Points Description

nuts 2 Nut cannot be lifted off bolt and freely turns to tighten

1 Nut is fully threaded and seated against board

gears 2 Insert gear onto shaft seated against board

1 Gear mesh (1st gets a point when 2nd gear is meshed with it)

pegs 2 Insertion into hole

1 Constrain bottom of beg against underlying surface to board

connectors 2 Insertion into corresponding connector

1 Fully seated or snapped connection
Change Log

9/10/2017 add scoring sheets

9/16/2018 add warning regarding the use of venue wireless network

no modifications to the parts provided with task board or the board itself