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ur10_robot_arm:ur10_robot_arm [2020/08/04 07:21] – [Define the pattern] formlab | ur10_robot_arm:ur10_robot_arm [2021/07/30 03:26] – [Grasshopper] formlab | ||
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Applications | Applications | ||
- | ===== future tool heads ===== | + | ===== Software |
- | * 3D scanner tool head | + | |
- | * | + | |
- | ===== Brush attachment | + | ==== RoboDK |
+ | - [[https:// | ||
- | ===== 3D print attachment ===== | ||
- | In development | ||
- | ===== Pen plotter attachment ===== | + | ==== Grasshopper |
- | ===== Webcam attachment ===== | + | Grasshopper comes with Rhino 7. |
+ | But to control the robot, a robot plugin is needed. | ||
- | ===== DSLR attachment ===== | + | === The Robots plugin |
- | ===== Hole drilling attachment ===== | + | Install ' |
- | {{:ur10_robot_arm:griddrill_poster_web.jpg? | + | * Download the last release of the plugin: https:// |
- | This tool head was made to drill a grid of almost 500 holes into the base plate of the thermoform machine. | + | * In Grasshopper, |
+ | * Put the downloaded files (' | ||
+ | * Download the zip file from this Github repository: https:// | ||
+ | * Unzip the file. A folder ' | ||
+ | * Make a folder called ' | ||
+ | * Move the contents from ' | ||
- | ==== Physicial setup ==== | + | Follow this [[https:// |
- | The program is made and executed on the teaching pendant. | + | There are a few example files in (' |
+ | I followed this [[https:// | ||
- | {{: | ||
- | The Dremel is strapped to the upper arm of the robot and secured with zip ties, using a curved block of foam. | ||
- | {{: | ||
- | Slide the Dremel flex-arm in the 3D printed holder. Make sure it is attached to the tool change plate. Check that the bolt-heads are not sticking out on the side that will mount to the robot arm. The tool changer needs low profile bolts. Attach the tool to the robot arm and install a 1mm drill in the chuck. | ||
- | {{: | + | Additionally, install |
- | I had a piece of wood on a table with a layer of thick cardboard underneath, but with the robot arm, it is possible | + | ---> NO: windows only |
- | ==== Define the coordinate system of the stock material | + | ===== future tool heads ===== |
+ | * 3D scanner tool head | ||
- | {{: | ||
- | Test the reach of the arm: can it get to the far corners? | ||
- | {{: | + | ===== Broom handle attachment ===== |
- | To define the coordinate system of the stock material, take the teaching pendant and go to '' | + | {{: |
- | * Add a plane and define the necessary points. In this case these are the corners of the sheet of MDF. | + | {{:ur10_robot_arm:urbroomhandle_02_web.jpg? |
- | * First point: this defines the origin of the feature. | + | ===== 3D print attachment ===== |
- | * Second point: this defines the Y axis. | + | In development |
- | * Third point: this defines the X axis. | + | |
- | Save the file with a clear name. | + | {{: |
+ | ===== Pen plotter attachment ===== | ||
+ | {{: | ||
- | ==== Define the grid ==== | + | Used by [[http:// |
- | In this example, the drill makes a grid of 495 holes. The program is based on a wizard for palletizing. | + | |
- | On the teaching pendant, load the following program: '' | + | [[Drawing with the UR10]] |
- | Let's define 4 points where the outer most actions of the palletising sequence will take place. These points will become the corner-holes. | + | ===== Webcam attachment ===== |
+ | {{:ur10_robot_arm: | ||
+ | {{: | ||
- | {{: | + | ===== DSLR attachment ===== |
- | In the program tree, click item '' | + | |
- | Click '' | + | |
- | {{: | + | ===== Hole drilling |
- | From the upper right drop down menu, select the feature you defined previously. | + | {{: |
- | + | {{: | |
- | {{: | + | This tool head turns the robot into an automated hole drilling machine. Good for elaborate hole patterns that would be tedious |
- | To make the drill point straight down, click on one of the number boxes under '' | + | |
- | + | ||
- | {{: | + | |
- | Change drop down menu '' | + | |
- | * Set RX to '' | + | |
- | * Set RY to '' | + | |
- | * Set RZ to '' | + | |
- | + | ||
- | {{: | + | |
- | Lower the speed for safety. | + | |
- | + | ||
- | Manually move the arm to the first position, using the on screen arrows. | + | |
- | + | ||
- | {{: | + | |
- | When arrived at the first position, carefully move the arm down so that the drill almost touches the wooden surface. Keep a millimeter of safety margin. | + | |
- | + | ||
- | Click '' | + | |
- | + | ||
- | + | ||
- | ==== Define the drilling | + | |
- | This is the sequence to drill a single hole. When running the program, it will be repeated for every hole. | + | |
- | We will only be defining heights, since the X-Y location will be taken from the grid locations later. | + | |
- | + | ||
- | {{: | + | |
- | Under '' | + | |
- | Position the drill about 1mm above the surface. | + | |
- | + | ||
- | {{: | + | |
- | Define '' | + | |
- | + | ||
- | {{: | + | |
- | * Define Down —> '' | + | |
- | * Define Down —> '' | + | |
- | * Define Up —> '' | + | |
- | * Define Up —> '' | + | |
- | * Define '' | + | |
- | + | ||
- | + | ||
- | ==== Define the pattern ==== | + | |
- | {{:ur10_robot_arm: | + | Based on [[https://www.thingiverse.com/ |
- | In the program outline, select '' | + | |
- | {{:ur10_robot_arm: | + | The 3D printed part attaches to a [[https://www.grip-gmbh.com/ |
- | In the program outline, select '' | + | |
- | For example: 33x15 = 495 | + | |
- | {{: | + | Download the 3D files {{ : |
- | * Set the speed slider halfway. | + | Attach |
- | * Switch on the Dremel. | + | Attach |
- | * Run the program. | + | |
- | * Adjust the speed slider accordingly | + | |
+ | === Applications === | ||
+ | * [[: | ||