6 Axis Robotic Arm
From Fab Lab Bcn WIKI
Revision as of 18:36, 13 December 2016 by Kunal Chadha (Talk | contribs)
Contents
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
- Copy the file from the USB into the server to execute the file
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: 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
