Difference between revisions of "6 Axis Robotic Arm"

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(Technical specifications)
 
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[[Category:Machines]]
 
[[Category:Machines]]
  
[[File:Machines 13.jpg| thumb |The original Makerbot Cupcake built at Fab Lab Barcelona in 2010]]
+
[[File:Machines 13.jpg| thumb |Kuka Robot KR 150 L110–2]]
  
 
==Technical specifications==
 
==Technical specifications==
  
'''Brand:
 
*Kuka Robots
 
  
'''Model:  
+
*'''Model''': Kuka Robotics: KR 150 L110–2
*KR 150 L110–2
+
*'''Number of axes''': 6
 +
*'''Maximum reach''': 3,500 mm
 +
 
 +
==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==
 +
 
 +
*'''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
 +
 
 +
==Maintenance==
 +
==Downloads==

Latest revision as of 15:33, 22 January 2018

Kuka Robot KR 150 L110–2

Technical specifications

  • Model: Kuka Robotics: KR 150 L110–2
  • Number of axes: 6
  • Maximum reach: 3,500 mm

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

  • 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

Maintenance

Downloads