Academic literature on the topic 'Robot KUKA'

In this work the creation of the program code for industrial robot and the simulation of a robot cell by means of the simulation software KUKA Sim Pro in version 2.2.2, is presented. Simulated and programmed is, in reality existing KUKA-robot cell with industrial robot of the type KR6 R900 sixx (Agilus) with signal connected conveyor belt. The software KUKA Sim Pro is a program for design of 3D-layouts of a plant components including KUKA-robots. On this occasion, any layouts and concept designs can be simulated and be analysed. The used components were taken from the integrated library or were partly newly created. The industrial robot KUKA KR6 R900 sixx counts to the quickest robots of the world. In this work, the simulation of the robot cell and periphery is elaborated, as well as with it, connected practical circumstances and issues with the programming of the abovementioned robot.

Abstract This summary details the steps that were necessary to fasten a Nokia Puma 560’s gripper to a KUKA KR5 industrial robot found at University of Debrecen, Department of Mechatronics and also demonstrates its applications in the robot cell designed around its usage. It also includes the inspection and reconstruction of said gripper, and the 3D designing of its adapter. The adapter is intended for the KUKA KR5 robot, which is later manufactured using PRO-PLA 3D printing. The KUKA KR5 will also have a robot cell designed and built around it, for educational purposes.

The paper presents the development of a dynamic model for the KUKA KR6 robot during single point incremental forming (SPIF) of metal sheets. The dynamic model of the KUKA KR6 robot is created in MATLAB®-SimMechanics. This dynamic model is necessary to verify that the mechanical structure of this low payload industrial robot of 36 Kg capacity can withstand some specific forces in incremental forming of some low plasticity alloys like Ti6Al4V. In the Centre of Studies and Research for Plastic Deformations of "Lucian Blaga" University of Sibiu, different attempts on single point incremental forming of thin metal sheets have been carried out and some of the studies are based on SPIF using the KUKA KR6-2 industrial robot. Nevertheless, the previous experimental attempts using the KUKA KR 6-2 robot in SPIF processes were realised only on 0.4 mm thick DC04 steel sheets. This material has very good deformability properties and the forces during the process are relatively small. After the dynamic model validation some specific circular trajectories are imposed and the forces that can appear during SPIF process for Ti6Al4V alloy sheets are taken into consideration. After forces analysis, it was concluded that the KUKA KR6 robot can be used in single point incremental forming processes for metal parts requiring greater forming forces.

The objective of this paper is to analyze the precision of plastic parts made by using robot milling. Currently, the robots have good precision, rigidity, flexibility and they are able to machine parts. By using a six axis Kuka robot and an electric spindle, a plastic part was milled. The paper presents the advantages and disadvantages of this new technology, analyzing the dimensional accuracy, surface quality and costs.

Urgency of the research. The issue of using robotic workplaces for training students of technical fields is highly topical. It makes it possible to increase the labour market participation of students not only for the needs of the present, but also for the future. The design and implementation of an educational robotized workplace make it possible to prepare students according to their needs and current knowledge. Target setting. The aim of the solution is to design an educational workplace for handling, equipped with a Kuka KR6 robot and pneumatic effector. The three-finger effector from SMC allows you to hold and carry objects with a maximum clamping force of 130 N. At the same time, the workplace allows you to place handling objects in a total of 32 positions. Actual scientific researches and issues analysis. The deployment of angular industrial robots has also penetrated into other areas of industry where their use was only sporadic. This creates the need for additional personnel able to program the robot and set the technology for a specific issue of the robotized workplace. Uninvestigated parts of general matters defining. Improvement of students' knowledge or retraining of employees creates preconditions for their better application in technical practice. The ability to realize customized programs on industrial robots currently deployed in industry prepares students to perform their work without the need for further training, saving costs and time for employers. The research objective. The aim of the research was to design an educational robotized workplace in order to prepare students according to the specific needs of employers. The workplace allows the use of other pneumatic grippers, while it is possible to connect a total of 16 inputs and outputs for the use of other peripheral devices. The robot can also be used to create a program in an ROS environment, which in turn creates the need to use a Kinect device to detect not oriented components. The statement of basic materials. The use of the robot, whose control system KR C4 is one of the most modern, allows students to prepare for the needs of practice in the nearest future. After completing the training, the student is able to program on-line Kuka robots for industrial use. Conclusions. The article focuses on the design and creation of a training robotized workplace for creating programs using a pneumatic gripper. The design and use of the chessboard makes it possible to create a large number of possible combinations for training purposes. This creates a good precondition for adapting training to the specific needs of trained groups. The use of horizontal and inclined plane will teach students how to use the co-ordinate system of the tool or external base when programming. For this reason, programming the movement of the robot along the correct trajectory is more complex and improves the spatial perception of the students in the robot workspace.

In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.

Purpose This study aims to report the development of a provisional robotic cell for additive manufacturing (AM) of metallic parts. To this end, the paper discusses cross-disciplinary concepts related to the development of the robotic cell and the associated command and control system such as the Computer-Aided Design (CAD) interface, the slicing software and the path planning for the robot manipulator toward printing the selected workpiece. This study also reports the development of a virtual production cell that simulates the AM toolpath generated for the desired workpiece, the adaptation of the simulation environments to enable AM and the development of a user application to setup, command and control the AM processes. If a digital twin setup is efficiently built, with a good correlation between the simulation environment and the real systems, developers may explore this functionality to significantly reduce the development cycle, which can be very long in AM applications where metallurgic properties, part distortion and other properties need to be monitored and controlled. Design/methodology/approach To generate the robot manipulator path, several simulation programs were considered, resulting in different solutions to program and control the robot of choice [in this study, Kuka and Asea Brown Boveri (ABB) robots were considered]. By integrating the solutions from Slic3r, Inventor, Kuka.Sim, Kuka.Officelite, RobotStudio and Visual Studio software packages, this study aims to develop a functional simulation system capable of producing a given workpiece. For this purpose, a graphical user interface (GUI) was designed to provide the user with a higher level of control over the entire process toward simplifying the programming and implementation events. Findings The presented solutions are compatible with the simulation environments of specific robot manufacturers, namely, ABB and Kuka, meaning that the authors aim to align the developments with most of the currently realized AM processing cells. In the long-term, the authors aim to build an AM system that implements a produce-from-CAD strategy i.e. that can be commanded directly from the CAD package used to design the part the authors are interested in. Research limitations/implications This study attempts to shed light on the industrial AM, a field that is being constantly evolved. Arguably, one of the most important aspects of an AM system is path planning for the AM operation, which must be independent of the robotic system used. This study depicts a generic implementation that can be used with several robot control systems. The paper demonstrates the principle with ABB and Kuka robots, exploiting in detail simulation environments that can be used to create digital twins of the real AM systems. This is very important in actual industrial setups, as a good correlation between the digital twins (simulation environment and real system) will enable developers to explore the AM system in not only a more efficient manner, greatly reducing the development cycle but also as a way to fully develop new solutions without stopping the real setup. In this research, a systematic review of robot systems through simulation environments was presented, aiming to emulate the logic that is, used in the production cell development, disregarding the system brand. The adopted digital twin strategy enables the authors to fully simulate, both operationally and functionality, the real AM system. For this purpose, different solutions were explored using robots from two different manufacturers and related simulation environments, illustrating a generic solution that is not bound to a certain brand. Practical implications Using specific programming tools, fully functional virtual production cells were conceived that can receive the instructions for the movements of the robot, using a transmission control protocol/internet protocol. Conversion of the CAD information into the robot path instructions for the robot was the main research question in this study. With the different simulation systems, a program that translates the CAD data into an acceptable format brings the robot closer to the automatic path planning based on CAD data. Both ABB and Kuka systems can access the CAD data, converting it to the correct robot instructions that are executed. Eventually, a functional and intuitive GUI application capable of commanding the simulation for the execution of the AM was implemented. The user can set the desired object and run a completely automatic AM process through the designated GUI. Comparing ABB simulation with the Kuka system, an important distinction can be found, namely, in the exportation of the programs. As the Kuka program runs with add-ons, the solution will not be exported while maintaining its functionality, whereas the ABB program can be integrated with a real controller because it is completely integrated with modules of the virtual controller. Originality/value To conclude, with the solutions exploited, this study reports a step forward into the development of a fully functional generic AM cell. The final objective is to implement an AM system that is, independent of any robot manufacturer brand and uses a produce-from-CAD strategy (c.f. digital manufacturing). In other words, the authors presented a system that is fully automatic, can be explored from a CAD package and, consequently, can be used by any CAD designer, without specific knowledge of robotics, materials and AM systems.

The quality of industrial robots essentially depends on the properties of their kinematic couples. This research has involved conducting an experimental study of the friction torque in a joint of the KUKA KR10 industrial robot and building its model. It has been established that the largest impact on friction in the joint is caused by its axial load and velocity, as well as the temperature of the mechanism, which is generally not homogeneous. It is not possible to measure temperature fields in the joints of a serial industrial robot directly. This study has set forth a method to estimate friction torque taking into account the temperature factor indirectly. For this, we have used the motor temperature available for measuring in combination with special periodical motions, performed by the robot, during which we estimated the actual friction torque in the joint and calculated a temperature correction based on our findings.