Author Topic: Horizontal Axis Addition  (Read 1535 times)

Altrinis

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Horizontal Axis Addition
« on: April 24, 2020, 10:23:24 AM »
Hello,
I would be very thankful to receive Your opinion in the following matter:
We are planning to add an external horizontal axis to our current Kuka robot. It's naturally meant to be controlled with Kuka PRC.
The goal is to perform milling on cylindrical blanks (at least 1.5 m long however not exceeding more than 300kg), so precise synchronization is top priority.
After contacting Kuka, it was suggested that the KP1-MDC single-axis modular drive unit with counterbearing could possibly satisfy our needs.

1. Would Kuka PRC communicate with that equipment? Is it processed just as rotary table, but flipped sideways?
2. Do You have any better recommendation on hardware / solution (as in, to build the axis ourselves, other manufacturer etc.)?

Best regards.

Johannes @ Robots in Architecture

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Re: Horizontal Axis Addition
« Reply #1 on: April 24, 2020, 10:46:56 AM »
Hello,

Basically KUKA|prc does not know anything about the technical specifications of the axis, there is the geometric model and then the assignment to e.g. E1 as the variable.
So you can build any setup, it's just important that you can calibrate it exactly. There are strategies both for calibrating linear and rotary axis, so if the mechanics are sound I don't see a problem there.
While the KP1 is not included in KUKA|prc, I believe the guys at the AA have used one for the pavilions out of logs.

Regarding the hardware, the only requirement for a properly synchronizing axis is that it has to be a KUKA motor. The other mechanics can also come from another manufacturer (or from yourself). E.g. for linear axes, G├╝del is very popular.
Note that you also need to ensure that your controller is compatible with the additional axis, you might have to retrofit it otherwise, which can be quite expensive.
A good way to start is probably to ask KUKA for an offer for the KP1, including any potential extra costs for your robot controller. If you give them the serial number, they will know how it is equipped.

Best,
Johannes

Altrinis

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Re: Horizontal Axis Addition
« Reply #2 on: April 28, 2020, 10:32:53 AM »
Thank You for the reply, I value Your input very much.
I'm curious of the project by Architectural Association that You have mentioned - if by any chance there's a link or reference to a research paper at Your reach I would be very glad to have seen it. 

Nonetheless, the process of equipment acquisition will take some time, I treat the current post as a "sanity check" before going further with KUKA.
I will report as events unfold.

Kind regards.

Johannes @ Robots in Architecture

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Re: Horizontal Axis Addition
« Reply #3 on: April 28, 2020, 12:13:07 PM »
Hello,

Here's the video: https://vimeo.com/288400443
I'm sure there are also publications around!

Best,
Johannes