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Tutorials / Re: Surface Milling Tutorials
« Last post by Johannes @ Robots in Architecture on October 01, 2018, 11:59:42 AM »

I haven't come across any GH plugin that would do that for you in a reliable way, as those strategies are quite complicated and also do not fit that well into the GH way of programming.
Don't get me wrong, it's definitely possible to create milling strategy for individual use cases in GH and you can save great amounts of time through mass customization opposed to CAM software. But there isn't a script that will work well for "all" geometries, like in CAM software where you define the stock, the geometry, set a few parameters and get a working solution.

For "generic" CAM work we usually use Fusion 360, as it has got a nice interface and doesn't cost much (free for EDU). There is a Fusion 360 component in KUKA|prc, you can right-click it to export a postprocessor. Code generated through this PP can then be imported into GH and e.g. combined with your parametric geometry. Note that you need an additional "orientation" point as you get 5-axis G-code out of Fusion, that does not define the rotation around the tool axis!

Tutorials / Re: Surface Milling Tutorials
« Last post by donjorges on October 01, 2018, 03:41:50 AM »
i starting working on milling surfaces.. so, how do you start from the stock, this example is like the finish part, so to begin from the foam cube that you bougth at the store, and how do you develop and start milling from that..
do you offset, how do you...please.
Support / Re: Sanding elipses using a fixed tool
« Last post by Woodboss on September 28, 2018, 06:41:11 PM »
Hi Johannes,

That's exactly what I was trying to do. I just had three times as many components and it didn't work!

I've been working with mild and stainless steel recently but have been having the parts cut by CNC laser. Sometimes they come out a bit rough and linishing is really time consuming. If I get set up to use the robot and a plasma cutter they will probably be rougher again...

Best regards,

Support / Re: Sanding elipses using a fixed tool
« Last post by Johannes @ Robots in Architecture on September 28, 2018, 05:12:54 PM »

Here's the file in Rhino 5 format. The GH file will complain about a version mismatch but should work as intended!
I actually didn't make it to China, here's a video what the colleagues from IP did:

Support / Re: Sanding elipses using a fixed tool
« Last post by Woodboss on September 27, 2018, 07:37:54 PM »
Hi Johannes,

Many thanks for your help. As usual I was trying to do this in an over complicated way with rotations and moves etc. I'd forgotten about the 'orient' component.

I'm still on Rhino 5 however and it refuses to open your files. I can replicate the Grasshopper part and see how it should work but not the Rhino file, it doesn't seem to be backward compatible. Could you perhaps export using a different format?

On another subject: Did you get to China to try some KPRC plasma cutting? It's still on my list of things to try when I get organised to hire a plasma machine (and clear up my shed!). 
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.

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