Kuka KR 150 L110-2

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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

Health & Safety

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

  • 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)


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

  • 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


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 :



Technical sheet

Technical data: [1] Specifications: [2]