I have 2 projects in RoboDK to realize the 3D Concrete Printing projects by using the utilities of "Curve Following Project", instead of "3D Printing Project".
My goal of my two projects is:
1. Realization of 3D concrete printing with a complex configuration: gantry(H bot) + 6 axis robotics arm (KUKA kr150 R3100) and a 6 axis robotics arm (KUKA kr150 R3100)
2. Because of the constraints of the two set-ups, I would use the a.complex configuration: gantry(H bot) + 6 axis robotics arm (KUKA kr150 R3100) to print a large-scale area while the other setup b.only 6 axis robotics arm (KUKA kr150 R3100) to print a smaller area.
3. I import the .dxf file as the sliced printing path in RoboDK.
First I would ask some general questions:
1. I tried the utilities "3D Project Printing Project" in RoboDK, tried to use the Slic3r to slice my model (file type:.stl, a 6m*8m concrete house). But it was not working. Even I tried with the manual setting, the house model can also not be opened and accessed in Slic3r. Does it mean that "3D Project Printing Project" is not appropriate for large-scale objects such as houses?
2. In "Curve Following Project", after I select the curve, the green arrows mean the moving direction of my TCP. How about the normals? Do they mean the direction of the TCP z axis?
Secondly, I need your help debugging my two projects:
Gantry Setup.rdk and Wheeled Mobile Robotic Arm.rdk
For a. Gantry Setup.rdk
What I have done: (1) set up the models and station tree as your example, (2)synchronize the H bot and kuka robot arm, (3) import the .dxf file with lines as printing path
But when I tried to update & simulate the project, there are always errors, different errors:
(1) "can't find the start point"
(2) "The robot cannot reach all the targets in the path"
(3) Even the update is successful, when I tried to run the program, it showed "joint 5 is near 0 " "the target is too close to the axis limit" and "Movement in instruction MoveJ1 is not possible" etc.
(4)Even I occasionally succeeded in a short path as simulation, I cannot see the gantry(H bot) and robot arm(6 axis KUKA kr150) move together or in a synchronized way. It was more like the H bot was set to a position by me manually in advance and the robot arm finished its path movement in a small scale area.
In this project, I am looking forward to the outcome similar to this example but with H bot gantry: "Curve Following and Synchronization with Motoman UP50N #02"
For b. Wheeled Mobile Robotic Arm.rdk
What I have done: (1) set up the models and station tree and add targets to the mobile base (2) import the .dxf file with printing paths (3)select and configurate the "curve follow project"
The movement and paths are correct, but my problem now is:
I tried some Macro from the RoboDK official folder: WeldON/WeldOFF, SpindleOn/SpindleOff,GunOn/Gunoff, but they were not working and showing any effect of the material deposition in my project. I need a visualization effect from extruding the material/showing the trace of paths.
Again, many thanks for all your supports till now and looking for your help eagerly!
My goal of my two projects is:
1. Realization of 3D concrete printing with a complex configuration: gantry(H bot) + 6 axis robotics arm (KUKA kr150 R3100) and a 6 axis robotics arm (KUKA kr150 R3100)
2. Because of the constraints of the two set-ups, I would use the a.complex configuration: gantry(H bot) + 6 axis robotics arm (KUKA kr150 R3100) to print a large-scale area while the other setup b.only 6 axis robotics arm (KUKA kr150 R3100) to print a smaller area.
3. I import the .dxf file as the sliced printing path in RoboDK.
First I would ask some general questions:
1. I tried the utilities "3D Project Printing Project" in RoboDK, tried to use the Slic3r to slice my model (file type:.stl, a 6m*8m concrete house). But it was not working. Even I tried with the manual setting, the house model can also not be opened and accessed in Slic3r. Does it mean that "3D Project Printing Project" is not appropriate for large-scale objects such as houses?
2. In "Curve Following Project", after I select the curve, the green arrows mean the moving direction of my TCP. How about the normals? Do they mean the direction of the TCP z axis?
Secondly, I need your help debugging my two projects:
Gantry Setup.rdk and Wheeled Mobile Robotic Arm.rdk
For a. Gantry Setup.rdk
What I have done: (1) set up the models and station tree as your example, (2)synchronize the H bot and kuka robot arm, (3) import the .dxf file with lines as printing path
But when I tried to update & simulate the project, there are always errors, different errors:
(1) "can't find the start point"
(2) "The robot cannot reach all the targets in the path"
(3) Even the update is successful, when I tried to run the program, it showed "joint 5 is near 0 " "the target is too close to the axis limit" and "Movement in instruction MoveJ1 is not possible" etc.
(4)Even I occasionally succeeded in a short path as simulation, I cannot see the gantry(H bot) and robot arm(6 axis KUKA kr150) move together or in a synchronized way. It was more like the H bot was set to a position by me manually in advance and the robot arm finished its path movement in a small scale area.
In this project, I am looking forward to the outcome similar to this example but with H bot gantry: "Curve Following and Synchronization with Motoman UP50N #02"
For b. Wheeled Mobile Robotic Arm.rdk
What I have done: (1) set up the models and station tree and add targets to the mobile base (2) import the .dxf file with printing paths (3)select and configurate the "curve follow project"
The movement and paths are correct, but my problem now is:
I tried some Macro from the RoboDK official folder: WeldON/WeldOFF, SpindleOn/SpindleOff,GunOn/Gunoff, but they were not working and showing any effect of the material deposition in my project. I need a visualization effect from extruding the material/showing the trace of paths.
Again, many thanks for all your supports till now and looking for your help eagerly!
