Differences

This shows you the differences between two versions of the page.

--- ur10_robot_arm:ur10_robot_arm [2020/08/04 02:52] – [Physicial setup] formlab
+++ ur10_robot_arm:ur10_robot_arm [2021/06/28 00:22] – formlab
@@ Line 6: / Line 6: @@
 Applications
+===== Software =====
+==== RoboDK ====
+- [[Reference Frame Definition|https://www.youtube.com/watch?v=WmyIAgNyPC0]]
+==== Grasshopper ====
 ===== future tool heads =====
   * 3D scanner tool head
-  *
-===== Brush attachment =====
+===== Broom handle attachment =====
+{{:ur10_robot_arm:urbroomhandle.jpg?600|}}\\
+{{:ur10_robot_arm:urbroomhandle_02_web.jpg?600|}}\\
 ===== 3D print attachment =====
 In development
+{{:ur10_robot_arm:urprinter.jpg?600|}}\\
 ===== Pen plotter attachment =====
+{{:ur10_robot_arm:urprlotter.jpg?600|}}\\
+Used by [[http://hisk.edu/mw/index.php/Diego_Lama|Diego Lama]] to scratch drawings into car parts
+[[Drawing with the UR10]]
 ===== Webcam attachment =====
+{{:ur10_robot_arm:urbwebcam.jpg?600|}}\\
+{{:ur10_robot_arm:urwebcam_design_museum_ghent_web.jpg?600|}}\\
 ===== DSLR attachment =====
 ===== Hole drilling attachment =====
+{{:ur10_robot_arm:griddrill.jpg?600|}}\\
 {{:ur10_robot_arm:griddrill_poster_web.jpg?600|}}\\
-This tool head was made to drill a grid of almost 500 holes into the base plate of the thermoform machine.
+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://www.thingiverse.com/thing:2475928|this design]].
+The 3D printed part attaches to a [[https://www.grip-gmbh.com/connect/mgw/mgw063|Grip toolchanger underplate (G-MGW063-2U)]].
+Download the 3D files {{ :ur10_robot_arm:ur_dremel_flex_clamp.zip |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
-==== Physicial setup ====
-The program is made and executed on the teaching pendant.
-\\
+=== Applications ===
-The Dremel is strapped to the upper arm of the robot and secured with zip ties, using a curved block of foam.
-The Dremel flex arm is installed with a 1mm drill in the chuck.
+  * [[:ur10_robot_arm:Drilling holes in a grid]]