Universal Robots UR10 robot arm

Collaborative robot-arm

Applications

- Reference Frame Definition

Grasshopper comes with Rhino 7. But to control the robot, a robot plugin is needed.

Install 'Robots' plugin (on Mac):

• Download the last release of the plugin: https://github.com/visose/Robots/releases (on the top right, click 'code > download .zip').
  • In Grasshopper, go to 'File > Special Folders > Components Folder'. This opens a finder window.
  • Put the downloaded files ('Robots.dll', and 'Robots.gha') in this folder.
• Download the zip file from this Github repository: https://github.com/visose/Robots
  • Unzip the file. A folder 'Robots-master' is created.
  • Make a folder called 'Robots' in your user directory ('/Users/username/Robots').
  • Move the contents from 'Robots-master > Libraries' to the newly created 'Robots' folder in the user directory.

Follow this getting started guide.
I followed this getting started video.

Additionally, install the Fox plugin to get the 'plane flip' command —> NO: windows only

• 3D scanner tool head

In development

Used by Diego Lama to scratch drawings into car parts

Drawing with the UR10

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

• Drilling holes in a grid