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For our experiments with incremental sheet forming (using PET, not metal) we went the other, easier way and designed a form, which then defined the toolpaths. See e.g. at a workshop in Shanghai:
Approximating material behaviour in parallel to the simulation might work with Kangaroo, but I wouldn't expect to achieve an accurate simulation, as the material interactions are really complex. E.g. with PET, heat was a very significant factor, which you cannot really simulate that well in realtime.
The nicest approach towards material simulation of incremental sheet metal forming are the machine learning strategies that Mateusz developed for "A Bridge Too Far" at CITA. The disadvantages as with all ML being that you first need to collect plenty good data.

Let me know if you need any specific data from PRC to link it with your material simulation!

Support / Robot Assisted Sheet Metal Shaping / Incremental Sheet Metal Forming
« Last post by KatyaBryskina on December 28, 2017, 02:37:04 PM »
Hi, I'm developing a definition for incremental sheet metal forming. I don't have a problem with the toolpath, but I'm having a problem with simulating a metal deformation in parallel. Does somebody have a good example how to simulate it during the tool path simulation?

I attached an example what approximately I try to get. Thank you in advance!
Hello Rajesh,

Sorry, but we don't really work with combat robots here, our focus is on industrial robots.
But I'm sure that there are dedicated forums for such a topic where someone will be able to recommend a specific remote.

General Discussion / Need help identifying a remote control
« Last post by rajeshkharche on December 28, 2017, 08:32:11 AM »
Hello everyone,

I am new to combat robots and am trying to help my son design and build his 1st robot. 
I do not have a technical background.  I am looking for a remote that will allow us to control the weapon (rotating blade) and two wheels.
 I have ESCs for each, but bought a flysky remote that seems to be designed for planes and helicopters and cannot figure out how to program it to meet our needs. 
Is there a better remote for us that is easier to adapt to our needs?

Rajesh Kharche


You can buy grippers from companies such as Schunk, simply get in touch with a representative!
That being said, if you do not have highly special requirements and are working on a budget, the cheap way is simply to look on eBay, where you can get grippers for a fraction of the price, 50EUR should be a good budget for anything a KR6 can move around.
From my personal experience, take care to check the spec sheet properly, I once purchased a gripper that turned out to be the size of a matchbox ;)
Similarly, I've got one that weighs 10kg - I knew what I was getting into that time, but was still somehow astonished when I saw it "in person".

In addition you will need a compressor, because electronic grippers are much (MUCH!) more expensive and harder to find used than pneumatic ones. But as a gripper does not need much air, it does not have to be fancy, as it will hardly be running. If noise is an issue, go for an airbrush compressor. Otherwise you can get cheap workshop compressors at any DIY store.
Your KR6 has got integrated valves, though you may need to purchase fittings if they were not included, e.g. from M5 threads on the Agilus to 6mm tubing that leads to the gripper (see e.g. You may also need to purchase fittings for the gripper as it may only have threaded holes where you attach the air.
I mostly buy fittings etc. at SMC or Festo, they both have online stores where they also sell in small numbers.

Finally, you may need to configure your integrated valves in WorkVisual (though they may be pre-configured anyway). In KUKA|prc you simply need to trigger the outputs of the valves. Some grippers only need one air supply as they come with a spring to reset it, others will need one air supply to open the gripper, and another tube to close it.

...and one more thing: There isn't some kind of standardized mount for grippers, so you will need to cut/drill/mill/3D print an adapter to mount the gripper on your robot. My suggestion would be to mount it normal to the flange, if you are doing brick stacking.

Hope that helps!
General Discussion / Where I can purchase a gripper for KUKA KR6?
« Last post by punsikorn49 on December 25, 2017, 11:42:00 AM »
I want to have a gripper in order to practice brick layering. But I have only bare robot arm.
I've looked many website and inquired some local companies but I couldn't locate where I can order.
Is anyone here have some idea where I can order one?
The one that I can practice with KUKA PRC sample files.
It does not have to be very perfect precise one as what I want is a brick layering.
Look forward to having kind advices!!! บอลสเต็ป2
Support / Re: Pocketing sequence
« Last post by Johannes @ Robots in Architecture on December 23, 2017, 07:28:09 PM »
That sounds awesome!!
For me it's mostly research proposals over the holidays, probably no hands-on stuff!
Support / Re: Pocketing sequence
« Last post by Woodboss on December 22, 2017, 07:48:23 PM »
Thanks Johannes,

I hadn't realised that 'move' would work for a list like that, I just thought in terms of points, curves etc.

I'm just about set to mangle a lot of lumps of timber trying to make super size Turners Cubes over the holiday now.
One day I'm going to ask a difficult question...

Support / Re: Pocketing sequence
« Last post by Johannes @ Robots in Architecture on December 22, 2017, 07:27:51 PM »

So you mean having stepdowns?
See the attached example!

To reverse the direction, simple use the Reverse List component to do so!

Support / Pocketing sequence
« Last post by Woodboss on December 22, 2017, 12:52:48 PM »
I have a definition which works nicely for cutting circular pockets, but so far only as deep as one pass will allow.

My next step is to add multiple passes at increasing depths in order to cut deeper pockets.

I'm wondering what the best approach to this will be:
Recycling the existing definition?
Or trying something more fun like Hoopsnake?

Also reverse direction of cut...
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