Kuka KR 150 L110-2
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
- 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
File: Vacuum_Gripper.jpg
- Hotwire Cutter
2m Wire Mounted on Custom Tool and Transformator
Reference Project: http://www.iaacblog.com/programs/chainsaw-kuka/
- Kuka Spindle
HSD Spindle
9KW with Automatic Tool Changer
Metal Tool Holder (can be mounted on the table)
File: Kuka_Spindle.jpg
- Spindle (External)
File: SpindleExternal.jpg
- Mini Spindle (External)
500W
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
File: SawN1.jpg
- Circular Saw N2 (External)
Hand Tool Installed on a Custom-made Stationary Position
File: CIRCULAR_SAW.jpg
- Extruder (Small)
Custom-made Pneumatic Extruder for Viscous Material
Capacity: 1 liter
Nozzle sizes : 2mm / 4mm / 6mm / 8mm
File: Small_Extruder.jpg
- 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
- Pellet Extruder
WASP
Reference Project: http://www.iaacblog.com/programs/robotic-mixed-reality-roland-snooks-natalie-alima-2/
File: Pellet_Extruder.jpg
- Measure Pin
File: MeasurePin.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
