Difference between revisions of "6 Axis Robotic Arm"

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[[Category:Machines]]
 
[[Category:Machines]]
  
[[File:Machines 13.jpg| thumb |The original Makerbot Cupcake built at Fab Lab Barcelona in 2010]]
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[[File:Machines 13.jpg| thumb |Kuka Robot KR 150 L110–2]]
  
 
==Technical specifications==
 
==Technical specifications==
  
'''Brand:
 
*Kuka Robotics
 
  
'''Model:  
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*'''Model''': Kuka Robotics: KR 150 L110–2
*KR 150 L110–2
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*'''Number of axes''': 6
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*'''Maximum reach''': 3,500 mm
  
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==Health & Safety==
  
==Machine workflow==
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==Machine Workflow==
  
 
=='''Turn on the machine'''==
 
=='''Turn on the machine'''==
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*On the Teach Pendant press the window selection key to switch the selection to the command status window
 
*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
 
*Use the soft keys to acknowledge the status
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*Copy the file from the USB into the server to execute the file
  
==End Effector==
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==End Effectors==
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*'''Hotwire Cutter'''
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*'''Extruder (Small)'''
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 +
 
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Capacity : 1 liter
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Nozzle sizes : 2mm / 4mm / 6mm / 8mm
  
*Hotwire Cutter
 
*Extruder (Small)
 
 
  [[:File: ExtruderA.jpg]]
 
  [[:File: ExtruderA.jpg]]
*Extruder (Big)
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*'''Extruder (Big)'''
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 +
 
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Capacity : 12.5 liters
 +
 
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Nozzle size : 8mm
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 +
[[:File: ExtruderB.jpg]]
 
*External Drill
 
*External Drill
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[[:File: ExtDrill.jpg]]
 
*Gripper (Small)
 
*Gripper (Small)
 
  [[:File: GripperA.jpg]]
 
  [[:File: GripperA.jpg]]
 
*Gripper (Large)
 
*Gripper (Large)
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[[:File: Gripper2.jpg]]
 
*Measure Pin
 
*Measure Pin
 +
[[:File: MeasurePin.jpg]]
 
*Saw N1 (External)
 
*Saw N1 (External)
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[[:File: SawN1.jpg]]
 
*Saw N2 (External)
 
*Saw N2 (External)
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[[:File: SawN2.jpg]]
 
*Spindle  
 
*Spindle  
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[[:File: Spindle.jpg]]
 
*Spindle (External)
 
*Spindle (External)
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[[:File: SpindleExternal.jpg]]
 
*Spray 1
 
*Spray 1
 +
[[:File: SprayA.jpg]]
 
*Spray 2
 
*Spray 2
 +
[[:File: SprayB.jpg]]
  
 
==Robotic Processes==
 
==Robotic Processes==
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*Reverse Milling (to be combined with Pick&Place application).  
 
*Reverse Milling (to be combined with Pick&Place application).  
 
*Real Time Interaction (to be combined with any other process, need RSI)
 
*Real Time Interaction (to be combined with any other process, need RSI)
 +
 +
  
 
List of video of IAAC projects using a robot :  
 
List of video of IAAC projects using a robot :  
 
https://vimeo.com/album/3361210
 
https://vimeo.com/album/3361210
 +
 +
==Maintenance==
 +
==Downloads==

Latest revision as of 15:33, 22 January 2018

Kuka Robot KR 150 L110–2

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

  • 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

Maintenance

Downloads