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Support / Re: Sanding elipses using a fixed tool
« Last post by Johannes @ Robots in Architecture on September 24, 2018, 06:40:25 PM »

Here's a quick example that should help you get started polishing the wood ellipses.
You see that A6 is running into its limitation, so you may need to set A6 on your robot to infinite rotation, which of course complicated the air supply for the gripper.
Maybe make sure that the robot starts close to the negative limit and then only turns in the positive direction.

All the best for the future, Akanksha!
Support / Sanding elipses using a fixed tool
« Last post by Woodboss on September 23, 2018, 10:43:46 PM »
I want to use the robot to sand the periphery of a bunch of elipses which the robot will hold centrally with a gripper, and using a belt sander.

The sander has belt pulley axes that are vertical, so that the belt is vertical and travels horizontally. Photo attached.
The elipses were cut by the robot so I know the dimensions but the path the centre needs to follow to keep the point of contact tangental is not the original elipse (another photo). Also they need to be rotated through 360 degrees as they follow the path so that the point of contact with the belt is always tangental?

Rather more complex a problem than I thought when I started this. I've a feeling that there may be feed speed issues on the long and short radius curves to deal with as well.

Any help here would be much appreciated!

Perhaps I should just make a vertical drum sander - but then I only just made the belt one - and it works really well...
General Discussion / Re: How do I begin my journey into Architectural Robotics?
« Last post by akengi on September 23, 2018, 06:59:17 PM »
Dear Johannes,

I am really glad to have received your kind feedback. I really wish to enhance my skills on robotics while the focus stays on its application in Architecture. Since I have already done my masters in Robotics, I am looking forward to a PhD now. I am searching actively and applying. I hope I can find the best fit soon enough.

I really appreciate your feedback, it really inspires when it comes from the founders  :)

I hope we get more postings soon in the job board.  :)

Hoping for best.
Best regards


Well, I'd say it depends on which direction you want to take, if you want to work at a company, found a startup or do academic research.
I'm guessing that you are outside the EU and US, so it may make sense to enroll for a relevant Master or PhD program, also to acquire skills with robots. There are several countries in Europe with good academic programs and very low or free tuition. Note that there are usually restrictions on how much you are allowed to earn with a student visa.
I don't think your nationality is a problem - you just need to be allowed to work in the EU or UK, you don't need to be from there. I would assume that if you finish an academic program it would be easier to get a work permit in that country, but I'm really not an expert.

Hope that helps a bit!
Here's an example to illustrate it.
The first PTP and LIN positions are outside of the A5 reach, so that A5 is 1. The next position cannot be reached at all, which is why all axes are at 1. The axis value that you are getting is only the (more or less) maximum extension so that you can see where the unreachable position is located at. I believe that's better than just having the robot disappear when there is no mathematical solution.

General Discussion / Re: WISH : Analysis - Null Axis values if out of range
« Last post by Wall-E on September 20, 2018, 10:24:58 PM »
Nope, I can see that I have an angle value for A1, but still get all Ones.
Moreover, why would I have values for axii 7 to 10 since I haven't used them ?

Hmmm... I wasn't able to replicate that, see the attached screenshot.
It may be that your position is completely out of range, i.e. unreachable, no matter the axis limit? Like e.g. when you put a position 10.000mm away from the robot's center.


The "KUKA KR150-240 -2" should be the right one. But there are also additional versions like e.g. KR150L130 that are longer and therefore support less weight.
To be on the safe side, move your robot into its standard home position with A2 at -90 and A3 at 90 and then get its Cartesian position with both tool and base set to 0.
Make a point with those coordinates in Rhino/GH and check if it corresponds to the digital robot.

General Discussion / Virtual Robot for KR150 2000 Series (or Similar)
« Last post by designfugitives on September 19, 2018, 11:19:53 PM »
Which of the robots in the current library best matches the reach and range of a KR150 2000 Series (2011 production year)? 
General Discussion / Re: WISH : Analysis - Null Axis values if out of range
« Last post by Wall-E on September 19, 2018, 09:07:55 PM »
Ah, OK, I learned something here.

To illustrate the "All zeros" or "All ones"... see attached
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