6 Axis Robotic Arm

Kuka Robot KR 150 L110–2

Technical specifications

• Model: Kuka Robotics: KR 150 L110–2
• ""Maximum reach"": 3,500 mm

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