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ur10_robot_arm:ur10_robot_arm [2020/08/05 02:15] – [Hole drilling attachment] formlab | ur10_robot_arm:ur10_robot_arm [2021/06/28 00:22] – [RoboDK] formlab | ||
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Applications | Applications | ||
+ | |||
+ | ===== Software ===== | ||
+ | |||
+ | ==== RoboDK ==== | ||
+ | - [[https:// | ||
+ | |||
+ | |||
+ | ==== Grasshopper ==== | ||
===== future tool heads ===== | ===== future tool heads ===== | ||
* 3D scanner tool head | * 3D scanner tool head | ||
- | * | ||
- | ===== Brush attachment ===== | ||
+ | ===== Broom handle attachment ===== | ||
+ | {{: | ||
+ | {{: | ||
===== 3D print attachment ===== | ===== 3D print attachment ===== | ||
In development | In development | ||
+ | {{: | ||
===== Pen plotter attachment ===== | ===== Pen plotter attachment ===== | ||
+ | {{: | ||
+ | Used by [[http:// | ||
+ | |||
+ | [[Drawing with the UR10]] | ||
===== Webcam attachment ===== | ===== Webcam attachment ===== | ||
+ | {{: | ||
+ | {{: | ||
===== DSLR attachment ===== | ===== DSLR attachment ===== | ||
===== Hole drilling attachment ===== | ===== Hole drilling attachment ===== | ||
+ | {{: | ||
{{: | {{: | ||
+ | This tool head turns the robot into an automated hole drilling machine. Good for elaborate hole patterns that would be tedious to do manually. | ||
+ | |||
Based on [[https:// | Based on [[https:// | ||
- | Download the 3D files {{ : | + | The 3D printed |
- | + | ||
- | ==== Drilling holes in a grid ==== | + | |
- | This tool head was made to drill a grid of 495 holes into the base plate of the thermoform machine. | + | |
- | + | ||
- | === Physicial setup === | + | |
- | The program is made and executed on the teaching pendant. | + | |
- | + | ||
- | {{: | + | |
- | 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 | + | |
- | + | ||
- | {{:ur10_robot_arm: | + | |
- | I had a piece of wood on a table with a layer of thick cardboard underneath, but with the robot arm, it is possible to drill in walls, upright panels etc... (The cardboard in the picture should have been thicker). | + | |
- | + | ||
- | === Define the coordinate system of the stock material === | + | |
- | + | ||
- | {{: | + | |
- | Test the reach of the arm: can it get to the far corners? | + | |
- | + | ||
- | {{: | + | |
- | 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. | + | |
- | * First point: this defines the origin of the feature. | + | |
- | * Second point: this defines the Y axis. | + | |
- | * Third point: this defines the X axis. | + | |
- | + | ||
- | Save the file with a clear name. | + | |
- | + | ||
- | === Define the grid === | + | |
- | 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: '' | + | |
- | Let's define 4 points where the outer most actions of the palletising sequence will take place. These points will become the corner-holes. | + | |
- | + | ||
- | {{: | + | |
- | In the program tree, click item '' | + | |
- | Click '' | + | |
- | + | ||
- | {{: | + | |
- | From the upper right drop down menu, select the feature you defined previously. | + | |
- | + | ||
- | {{: | + | |
- | 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 sequence === | + | |
- | 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 === | + | |
- | + | ||
- | {{: | + | |
- | In the program outline, select '' | + | |
- | + | ||
- | {{: | + | |
- | 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 === | ||
+ | * [[: | ||