ABB IRB 140 - 6 Axes Robot

ABB IRB 140 (6 Axes Robot)

Technical specifications

• Model: ABB IRB140 (IRC5)
• Number of axes: 6
• Maximum reach: 810 mm
• Payload : 6 kilograms

Machine Workflow

- Turn on the switch on the controller

- Check if the robot is in manual mode

- Aknowledge any errors seen on the flexpendant

- Export your file in .PRG format and copy it in a USB

- Plug in the USB in the port on the flexpendant

- FInd the USB folder and change it to old format (.PRG)

- Press the Guard stop and press the play button to initiate the file

End Effectors

• Small Pnuematic Gripper

File: Small_Pneumatic_Gripper.jpg

• Vacuum gripper

COVAL Suction Cups + Strong Vacuum

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8

File: Vacuum_Gripper.jpg

• Small Vacuum gripper

File: Small_Vacuum_Gripper.jpg

Reference Project: https://www.youtube.com/watch?v=umDp-AHn3uQ&feature=youtu.be

• Mini Spindle (External)

500W

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8

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 N2 (External)

Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://www.youtube.com/watch?v=wzc0L7O3mSs&feature=youtu.be

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

• Measure Pin

File: MeasurePin.jpg

• Camera Holder

Reference Project: https://vimeo.com/showcase/3361210/video/91072422

Robotic Processes

• Pen Writing
• Pick & Place
• 3D Scan
• Spraying
• Reverse Milling (to be combined with Pick&Place application)
• 3D printing (plastic, clay, hydrogel...)

List of video of IAAC projects using a robot :

https://vimeo.com/album/3361210

http://www.iaacblog.com/programs/courses/mrac/2018-2019-mrac/

Downloads

Manual:

https://search-ext.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch

ABB OPERATIONS https://drive.google.com/file/d/1cLadHptIWTnSoQkWln9g5cCxD6gc6kNH/view?usp=share_link

TCP Calibration https://drive.google.com/file/d/196kO1AxNpu0TbMAIdhFcR8AHWfLMZXfV/view?usp=share_link