Difference between revisions of "6 Axis Robotic Arm"

Revision as of 19:29, 12 December 2016

The original Makerbot Cupcake built at Fab Lab Barcelona in 2010

Technical specifications

Brand:

• Kuka Robotics

Model:

• KR 150 L110–2

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

End Effector

• Hotwire Cutter
• Extruder (Small)

File: ExtruderA.jpg

• Extruder (Big)

File: ExtruderB.jpg

• External Drill

File: ExtDrill.jpg

• Gripper (Small)

File: GripperA.jpg

• Gripper (Large)

File: GripperB.jpg

• Measure Pin
• Saw N1 (External)
• Saw N2 (External)
• Spindle
• Spindle (External)
• Spray 1

File: SprayA.jpg

• Spray 2

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