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Messages - Johannes @ Robots in Architecture

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481
General Discussion / Re: Home made stand for a KR6
« on: September 15, 2015, 10:23:34 AM »
Phew, not really my area of expertise, but I'm sure that the KUKA values already contain all kind of safety coefficients.
After all, they assume a maximum force of 4600N for a 200kg machine.

Best,
Johannes

482
General Discussion / Re: Home made stand for a KR6
« on: September 14, 2015, 11:11:24 PM »
Hello,

Here are the relevant values for the KR6-2, which should be very similar to your KR6 arc. That should make simulation and dimensioning easier!
Fv = Vertical force Fvmax = 4,600 N
Fh = Horizontal force Fhmax = 5,000 N
Mk = Tilting moment Mkmax = 5,200 Nm
Mr = Turning moment about axis 1 Mrmax = 4,200 Nm

Best,
Johannes

483
General Discussion / Re: WISH : Divide curve - Two useful options, perhaps
« on: September 12, 2015, 07:48:16 PM »
Hello,

The most common crash is when the Settings window is loaded and some libraries are missing (but this would then happen all the time, not just sometimes).

If you run into any more crashes please let me know and I'll try to fix it. I can't think of any occasion when changing a geometry caused Rhino to crash - if anything is corrupted it may turn one of the other component red, but usually nothing worse. But of course this doesn't mean that it's not possible, so keep me updated. I can then also get in touch with McNeal if it's not directly PRC-related.

Best,
Johannes

484
General Discussion / Re: WISH : Divide curve - Two useful options, perhaps
« on: September 12, 2015, 07:30:47 PM »
Haha, have to prepare for next week's workshop and presentation at eCAADe ;)
I skipped the part with the closed curve, here's a quick fix attached. It's a basic problem of the conversation from CAD to CAM (but a good idea to integrate a function for that in the divide curve component...).
The reason why the component is working the way it is working lies in our early research into flank milling, where we used one curve to define the tooltip and one for the toolaxis, see e.g. here http://www.robotsinarchitecture.org/wp-content/uploads/2011/09/ecaade_ddp.pdf
I'll look into integrating a switch to flip the tool axes.

Ah, and nice video! In the new PRC, the robot should be orange/black, though... Did you intentionally change something or is this how it looks for you?

Best,
Johannes

485
General Discussion / Re: WISH : Divide curve - Two useful options, perhaps
« on: September 12, 2015, 06:50:55 PM »
Hello,

Here is how I would approach that problem (attached, using the member version of PRC as you are also using).
You can define the tool direction as a vector, and the use the vector to create a plane with the Plane Normal component. As the milling tool is symmetrical, you can rotate it around the tool axis to improve reachability. The Orient Plane component rotates planes around their Z-axis so that the are facing to the given point.

Hope that helps!
Best,
Johannes

486
General Discussion / Re: can't find kuka kr3 3d model in PRC
« on: August 17, 2015, 12:28:09 PM »
Great, definitely do keep us updated in regards to your projects - and don't hesitate to get in touch if you run into any issues!

Best,
Johannes

487
Support / Re: First Post ! Question(s) about KRESS spindle mount
« on: August 16, 2015, 07:08:43 PM »
Hello,

Sorry for the late reply, I somehow missed your reply!
And yes, there are the index holes, but quite frankly I never use them with smaller robots. I guess they are good to have if you need to mount a tool accurately, i.e. not having to calibrate it on the robot again. However, seeing as the Kress spindle doesn't even have a  (e.g. HSK) tool holder, you have to manually calibrate it anyway.

Anyway, I don't believer that you have to worry about anything with a 6kg payload robot!

All the best,
Johannes

488
General Discussion / Re: can't find kuka kr3 3d model in PRC
« on: August 13, 2015, 11:01:56 AM »
Hello,

The KR3 is indeed a bit old, but you can find a 3D model of it on the regular KUKA downloads page (Downloads, CAD, Archive). Here's a direct link that should hopefully work: http://www.kuka-robotics.com/res/sps/8ba89f50-3ccd-4361-9b9a-60bdd0662ac6_kr3_STEP.zip

We do integrate new robots for our members for free, so if you decide to become a member it's no problem integrating it into PRC as a native component!
Best,

Johannes

489
Support / Re: First Post ! Question(s) about KRESS spindle mount
« on: August 07, 2015, 10:30:06 AM »
Hello,

Definitely make the aluminum plate shorter if you only use it for the Kress spindle, there's no advantage in having a longer aluminum plate and I would rather scratch the robot with a plastic part then a sharp aluminum edge ;)
That being said, we never had any serious problems with the plate, so it somehow worked.
What do you mean by "so low"? If you refer to the distance between the flange and the tooltip you've got two factors that act against each other: The closer the distance is, the more it is likely that the robot's A5 collides with the ground when you do five-axis milling - the further away it is, the less stable the setup becomes. So you just have to find some compromise between those two.

I quickly threw together a definition where you can dynamically adjust the length of the plate and test it in PRC - that should make it easier to decide!
Note: Only works with the most recent member version of PRC!

Best,
Johannes

490
Support / Re: Adjusting Planes on each point
« on: August 06, 2015, 06:47:07 PM »
Hello Bob,

I just sent you an eMail, but maybe this is helpful for others as well - instead of using a helix you can also slice it into circles (in the case of a tube) and then flip the direction of every second circle so that the robot automatically unwinds itself.
The attached example uses the new PRC for the robot components, but most pathplanning is native Grasshopper anyway!

Best,
Johannes

491
Support / Re: Robot-Tool and Robot-Robot collision check ?
« on: August 04, 2015, 11:36:34 PM »
Hello Alex,

Well, proper multi-robot support is hopefully incoming - I'm working with the RMIT guys and FabUnion on finding a nice solution.
I just checked again and robot|tool collisions seem to be working (see attached image). For a multirobot setup you would currently have to take the GEO output of the core component and then look for intersections/collisions, e.g. using the Collision One/Many component or the Mesh Intersection.

Hope that helps,
Johannes

492
Support / Re: Surface to Toolpath
« on: August 04, 2015, 11:10:52 PM »
Hello Bob,

It's important to mention that KUKA|prc is a "universal" tool and not a specialized milling solution. If your plan is to do mostly milling it definitely makes sense to e.g. get RobotMaster and MasterCAM (though they are quite expensive in the five-digits).
That being said it's totally possible to do additive fabrication, milling, wirecutting, etc. and quite many users utilize it exactly for that, look e.g. at the videos of Artis Engineering (not all are done with PRC, though) https://vimeo.com/user12374666

I've attached an example how the cylinder could for example work, the other surface wouldn't be any different. As mentioned in the other eMail, please send me an eMail for the temporary license (johannes@robotsinarchitecture.org).

Best,
Johannes

493
Support / Re: Adjusting Planes on each point
« on: August 04, 2015, 10:55:07 PM »
Hello Bob,

There you go, please find attached a quick definition. Also take a look at the files in the tutorial sections. Regarding the project, some things are important to keep in mind:

- If you're moving in a spiral, you will "wind" the robot up - every axis has got a certain axis limit, and if you keep turning in the same direction it will run into that limit. For some robots, you can set the axis 4 and 6 to infinite rotation, which would be helpful for your project (the Agilus for example can NOT rotate A4 infinitely as A4 contains the pressured air tubing).
- Even if the robot can move everywhere, the cable of your tool may wind itself around the robot.
- The "winding up" is not simulated in the "free" KUKA|prc, I would recommend taking a look at the member version, for which I can issue you a temporary license. Just send me an eMail.

All the best,
Johannes

494
Support / Re: Varying speeds
« on: August 04, 2015, 10:44:45 PM »
Hello Alex,

Well, the usual way is to split the path into several segments as you mentioned - any particular reason why you want to avoid that?
It should be possible to adjust the speed while a program is running, e.g. via an analogue input if that is what you're after! If I remember correctly, $OV_PRO is the variable that controls the override speed (in percent, like you set it at the control panel)!

All the best,
Johannes

495
Support / Re: Adjusting Planes on each point
« on: August 01, 2015, 03:09:36 PM »
Hello Bob,

I've quickly put together an example how that could work, see attached files.
It doesn't yet include any robot-specific code as I don't know which version of PRC you are using. If you're using the old PRC version, right-click the LIN-movement component to switch it to using planes as the input geometry.

Hope that helps!
Best,

Johannes

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