Collaborative robot-arm
References:
Test the setup:
- Direct computer-robot ethernet connection doesn't work. You need a switch or a router. The computer's IP address should be set to DHCP.
Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots.
Tools > Package Manager
and select the online
tab.1.4.1
and click install (restart Rhino after).1.5.0
probably works.1.0.1
, 1.3.0
, 1.4.1
seem to work. 1.5.0
, 1.6.0
are too new for the get-current-position-script (see below).
If Rhino keeps asking to locate the Robots.dll file, here's a tip. Make all grasshopper projects (files with a .gh
extension) writable. This way you'll need to reference the location of the robot.dll
file only once.
username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/1.4.1/Robots.dll
I tried adapting the 'simple example' by changing the Kuka robot to a UR10 robot. It works, but the initial position is all wrong. In this guide Joonhaeng Lee at MIT's center for bits and atoms describes a solution to this problem.
result = programName()
. Now the program will actually be ran. Maybe this is an incompatibility between the e-series and the previous versions. Might be changeable in the post processor C# script.This is a grasshopper file with some builtin scripts that allows to receive the current pose of the robot arm.
Computer -------------- Robot arm
Computer --- Switch --- Robot arm
sftp://192.168.185.99
Location of program (URP) or script (URS) files: /programs
A suitable cable that mates to the toolhead connector is Lumberg RKMV 8-354
Used by Diego Lama to scratch drawings into car parts
Drawing with the UR10 (RoboDK).
Drawing with the UR10 V2 (Grasshopper)
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 this design.
The 3D printed part attaches to a Grip toolchanger underplate (G-MGW063-2U).
Download the 3D files here.
Attach the clamps to the largest part with M4 screws and nuts.
Attach the largest part to the tool changer with 4 M5x16 low profile bolts and 4 M4 nuts