Difference between revisions of "Kuka KR 150 L110-2"

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*'''Number of axes''': 6
 
*'''Number of axes''': 6
 
*'''Maximum reach''': 3,500 mm
 
*'''Maximum reach''': 3,500 mm
 +
*'''Payload''': 110 kg
 +
*'''Weight''': 1,263 kg
  
 
==Health & Safety==
 
==Health & Safety==
Line 26: Line 28:
 
==End Effectors==
 
==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'''
 
*'''Hotwire Cutter'''
 +
2m Wire Mounted on Custom Tool and Transformator
  
−
*'''Extruder (Small)'''
+
Reference Project: http://globalschool.iaac.net/local-brief/
 +
[[:File: Hot_Wire.jpg]]
 +
*'''Kuka Spindle'''
 +
HSD Spindle
  
 +
9KW with Automatic Tool Changer
  
−
Custom-made Pneumatic Extruder for Viscous Material
+
Metal Tool Holder (can be mounted on the table)
  
−
Capacity: 1 liter
+
Reference Project: https://vimeo.com/showcase/3361210/video/124419782
 +
[[:File: Kuka_Spindle.jpg]]
 +
*'''Mini Spindle (External)'''
 +
500W
  
−
Nozzle sizes : 2mm / 4mm / 6mm / 8mm
+
Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 +
[[:File: Mini_Spindle.JPG]]
 +
*'''External Driller'''
 +
Hand Tool Installed on a Custom-made Stationary Position
  
−
  [[:File: Small_Extruder.jpg]]
+
Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/
−
*'''Extruder (Large)'''
+
  [[: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  
 
Custom-made Pneumatic Extruder for Viscous Material  
  
Line 50: Line 91:
  
 
  [[:File: Large_Extruder.jpg]]
 
  [[:File: Large_Extruder.jpg]]
−
*'''Pellet Extruder'''
+
*'''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
 
WASP
  
 
Reference Project: http://www.iaacblog.com/programs/robotic-mixed-reality-roland-snooks-natalie-alima-2/
 
Reference Project: http://www.iaacblog.com/programs/robotic-mixed-reality-roland-snooks-natalie-alima-2/
 
  [[:File: Pellet_Extruder.jpg]]
 
  [[:File: Pellet_Extruder.jpg]]
−
*External Drill
+
*'''Wood Dispenser'''
−
[[:File: ExtDrill.jpg]]
+
Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/
−
*'''Large Pnuematic Gripper'''
+
*'''Measure Pin'''
−
 
+
−
 
+
−
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]]
+
−
*'''Vacuum gripper'''
+
−
 
+
−
 
+
−
COVAL Suction Cups + Strong Vacuum
+
−
[[:File: Vacuum_Gripper.jpg]]
+
−
*Measure Pin
+
 
  [[:File: MeasurePin.jpg]]
 
  [[:File: MeasurePin.jpg]]
−
*Saw N1 (External)
+
*'''Fiber Weaving Tool '''
−
[[:File: SawN1.jpg]]
+
Simple Tool to Hold Wire Spool - Tension Obtain by Pulling The Wire with The Robot
−
*Saw N2 (External)
+
 
−
[[:File: SawN2.jpg]]
+
Reference Project: https://www.youtube.com/watch?v=EbqWVBIzja8&feature=youtu.be
−
*Spindle
+
*'''Spray 1'''
−
[[:File: Spindle.jpg]]
+
Reference Project: https://www.youtube.com/watch?time_continue=66&v=-M-Wp0NP4MA
−
*Spindle (External)
+
−
[[:File: SpindleExternal.jpg]]
+
−
*Spray 1
+
 
  [[:File: SprayA.jpg]]
 
  [[:File: SprayA.jpg]]
−
*Spray 2
+
*'''Spray 2'''
 
  [[:File: SprayB.jpg]]
 
  [[: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==
 
==Robotic Processes==
Line 100: Line 139:
 
*3D printing (plastic, clay, hydrogel...)
 
*3D printing (plastic, clay, hydrogel...)
 
*Reverse Milling (to be combined with Pick&Place application).  
 
*Reverse Milling (to be combined with Pick&Place application).  
−
*Real Time Interaction (to be combined with any other process, need RSI)
+
*Real-Time Interaction (to be combined with any other process, need RSI)
  
  
  
 
List of video of IAAC projects using a robot :  
 
List of video of IAAC projects using a robot :  
 +
 
https://vimeo.com/album/3361210
 
https://vimeo.com/album/3361210
  
−
==Maintenance==
+
http://www.iaacblog.com/programs/courses/mrac/2018-2019-mrac/
−
==Downloads==
+
 
−
[https://wiki.fablabbcn.org/index.php?title=Kuka_KR_150_L110-2&action=edit mecanizado de piezas]
+
==Technical sheet==
 +
Technical data: [https://drive.google.com/file/d/1NfjyyS3k_IxUlrAGTKADzhjfuCnXIOOX/view?usp=drive_link]
 +
Specifications: [https://drive.google.com/file/d/12TKNVQfky1c0BzW7fstOiGZOGrKe2jxw/view?usp=drive_link]

Latest revision as of 17:36, 14 December 2023

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)

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]

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