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ur10_robot_arm:ur10_robot_arm [2020/08/04 03:19] – [Define the coordinate system of the stock material] formlab | ur10_robot_arm:ur10_robot_arm [2021/01/12 01:53] – [Pen plotter attachment] formlab | ||
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===== 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 was made to drill a grid of almost 500 holes into the base plate of the thermoform | + | This tool head turns the robot into an automated hole drilling |
- | + | ||
- | ==== Physicial setup ==== | + | |
- | The program is made and executed on the teaching pendant. | + | |
- | {{:ur10_robot_arm: | + | Based on [[https://www.thingiverse.com/ |
- | The Dremel is strapped to the upper arm of the robot and secured with zip ties, using a curved block of foam. | + | |
- | {{: | + | The 3D printed |
- | Slide the Dremel flex-arm in the 3D printed | + | |
- | {{: | + | Download the 3D files {{ : |
- | I had a piece of wood on a table with a layer of thick cardboard underneath, but with the robot arm, it is possible | + | Attach |
+ | Attach the largest part to the tool changer with 4 M5x16 low profile bolts and 4 M4 nuts | ||
- | ==== Define the coordinate system of the stock material ==== | ||
- | {{: | + | === Applications === |
- | 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. | + | |