Kuka KR 150 L110-2

Kuka Robot KR 150 L110–2

Technical specifications

• Model: Kuka Robotics: KR 150 L110–2
• Number of axes: 6
• Maximum reach: 3,500 mm
• Payload: 110 kg
• Weight: 1,263 kg

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

• Large Pnuematic Gripper

RPW-625M-1 x 2 + Flexible fixing system 200 to 2000mm distance

Reference Project : https://iaac.net/project/fusta-robotica-otf-2015/

File: Large_Pneumatic_Gripper.jpg

• Small Pnuematic Gripper

File: Small_Pneumatic_Gripper.jpg

• Vacuum gripper

COVAL Suction Cups + Strong Vacuum

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8

File: Vacuum_Gripper.jpg

• Magnetic Clamp

Reference Project: https://vimeo.com/showcase/3361210/video/61213150

• Hotwire Cutter

2m Wire Mounted on Custom Tool and Transformator

Reference Project: http://globalschool.iaac.net/local-brief/

File: Hot_Wire.jpg

• Kuka Spindle

HSD Spindle

9KW with Automatic Tool Changer

Metal Tool Holder (can be mounted on the table)

Reference Project: https://vimeo.com/showcase/3361210/video/124419782

File: Kuka_Spindle.jpg

• Mini Spindle (External)

500W

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8

File: Mini_Spindle.JPG

• External Driller

Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/

File: External_Driller.jpg

• Circular Saw N1 (External)

Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/

File: SawN1.jpg

• Circular Saw N2 (External)

Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://www.youtube.com/watch?v=wzc0L7O3mSs&feature=youtu.be

File: CIRCULAR_SAW.jpg

• Chain Saw

Electric Chainsaw with Custom-made Metal Holder

Reference Project: http://www.iaacblog.com/programs/chainsaw-kuka/

• Extruder (Large)

Custom-made Pneumatic Extruder for Viscous Material

Capacity: 12.5 liters

Nozzle size: 8mm

Reference Project : https://iaac.net/project/pylos/

File: Large_Extruder.jpg

• Extruder (Small)

Custom-made Pneumatic Extruder for Viscous Material

Capacity: 1 liter

Nozzle sizes : 2mm / 4mm / 6mm / 8mm

File: Small_Extruder.jpg

• Pellet Extruder

WASP

Reference Project: http://www.iaacblog.com/programs/robotic-mixed-reality-roland-snooks-natalie-alima-2/

File: Pellet_Extruder.jpg

• Wood Dispenser

Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/

• Measure Pin

File: MeasurePin.jpg

• Fiber Weaving Tool

Simple Tool to Hold Wire Spool - Tension Obtain by Pulling The Wire with The Robot

Reference Project: https://www.youtube.com/watch?v=EbqWVBIzja8&feature=youtu.be

• Spray 1

Reference Project: https://www.youtube.com/watch?time_continue=66&v=-M-Wp0NP4MA

File: SprayA.jpg

• Spray 2

File: SprayB.jpg

• Light Writting

LED Sets with arduino base

Reference Project: http://www.iaacblog.com/2013/02/08/machinic-conversations-i-hacking-an-industrial-6axis-robot/

• Camera Holder

Reference Project: https://vimeo.com/showcase/3361210/video/91072422

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

http://www.iaacblog.com/programs/courses/mrac/2018-2019-mrac/

Technical sheet

Technical data: [1] Specifications: [2]