Difference between revisions of "6 Axis Robotic Arm"
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[[Category:Machines]] | [[Category:Machines]] | ||
| − | [[File:Machines 13.jpg| thumb | | + | [[File:Machines 13.jpg| thumb |Kuka Robot KR 150 L110–2]] |
==Technical specifications== | ==Technical specifications== | ||
| − | |||
| − | |||
| − | '''Model: | + | *'''Model''': Kuka Robotics: KR 150 L110–2 |
| − | + | *'''Number of axes''': 6 | |
| + | *'''Maximum reach''': 3,500 mm | ||
| + | ==Health & Safety== | ||
| − | ==Machine | + | ==Machine Workflow== |
=='''Turn on the machine'''== | =='''Turn on the machine'''== | ||
| Line 22: | Line 22: | ||
*On the Teach Pendant press the window selection key to switch the selection to the command status window | *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 | *Use the soft keys to acknowledge the status | ||
| + | *Copy the file from the USB into the server to execute the file | ||
| − | ==End | + | ==End Effectors== |
| + | |||
| + | *'''Hotwire Cutter''' | ||
| + | |||
| + | *'''Extruder (Small)''' | ||
| + | |||
| + | |||
| + | Capacity : 1 liter | ||
| + | |||
| + | Nozzle sizes : 2mm / 4mm / 6mm / 8mm | ||
| − | |||
| − | |||
[[:File: ExtruderA.jpg]] | [[:File: ExtruderA.jpg]] | ||
| − | *Extruder (Big) | + | *'''Extruder (Big)''' |
| + | |||
| + | |||
| + | Capacity : 12.5 liters | ||
| + | |||
| + | Nozzle size : 8mm | ||
| + | |||
[[:File: ExtruderB.jpg]] | [[:File: ExtruderB.jpg]] | ||
*External Drill | *External Drill | ||
| Line 35: | Line 49: | ||
[[:File: GripperA.jpg]] | [[:File: GripperA.jpg]] | ||
*Gripper (Large) | *Gripper (Large) | ||
| + | [[:File: Gripper2.jpg]] | ||
*Measure Pin | *Measure Pin | ||
| + | [[:File: MeasurePin.jpg]] | ||
*Saw N1 (External) | *Saw N1 (External) | ||
| + | [[:File: SawN1.jpg]] | ||
*Saw N2 (External) | *Saw N2 (External) | ||
| + | [[:File: SawN2.jpg]] | ||
*Spindle | *Spindle | ||
| + | [[:File: Spindle.jpg]] | ||
*Spindle (External) | *Spindle (External) | ||
| + | [[:File: SpindleExternal.jpg]] | ||
*Spray 1 | *Spray 1 | ||
[[:File: SprayA.jpg]] | [[:File: SprayA.jpg]] | ||
*Spray 2 | *Spray 2 | ||
| + | [[:File: SprayB.jpg]] | ||
==Robotic Processes== | ==Robotic Processes== | ||
| Line 60: | Line 81: | ||
*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== | ||
| + | ==Downloads== | ||
Latest revision as of 15:33, 22 January 2018
Contents
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
