6 Axis Robotic Arm

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The original Makerbot Cupcake built at Fab Lab Barcelona in 2010

Technical specifications

Brand:

  • Kuka Robotics

Model:

  • KR 150 L110–2


Machine Workflow

Turn on the machine

  • Turn on the air compressor (if working with gripper or spindle)
  • Turn on the Kuka box for electronic switches
  • Turn on the Kuka controller KRC2 with the black handle
  • Wait that the operative system Windows XP turns on
  • Press the two buttons on the box attached to the entrance door; first "rearme", then "peticion"
  • On the Teach Pendant press the window selection key to switch the selection to the command status window
  • Use the soft keys to acknowledge the status
  • Copy the file from the USB into the server to execute the file

End Effectors

  • Hotwire Cutter
  • Extruder (Small)


Capacity : 1 liter

Nozzle sizes : 2mm / 4mm / 6mm / 8mm

File: ExtruderA.jpg
  • Extruder (Big)


Capacity : 12.5 liters

Nozzle size : 8mm

File: ExtruderB.jpg
  • External Drill
File: ExtDrill.jpg
  • Gripper (Small)
File: GripperA.jpg
  • Gripper (Large)
File: Gripper2.jpg
  • Measure Pin
File: MeasurePin.jpg
  • Saw N1 (External)
File: SawN1.jpg
  • Saw N2 (External)
File: SawN2.jpg
  • Spindle
File: Spindle.jpg
  • Spindle (External)
File: SpindleExternal.jpg
  • Spray 1
File: SprayA.jpg
  • Spray 2
File: SprayB.jpg

Robotic Processes

List of processes already tested with the KUKA at IAAC (by order of feasibility and accessibility) :

  • Light Writing,
  • Pen Writing
  • Clay Engraving
  • Bot&Dolly Camera
  • 3D Scan (that can be combined with any other process for a slow material feedback loop)
  • Pick & Place
  • Wire / rope / fibre weaving
  • Spraying (paint, glue, fibre, sand, mud, clay)
  • Hot Wire Cutting. (EPS foam)
  • 7D Milling. (foam, plaster, wood,....)
  • 7D Chain-saw
  • 3D printing (plastic, clay, hydrogel...)
  • Reverse Milling (to be combined with Pick&Place application).
  • Real Time Interaction (to be combined with any other process, need RSI)


List of video of IAAC projects using a robot : https://vimeo.com/album/3361210