[zejian]

Hello,

I am currently researching the integration of a non-planar single-screw pellet extruder into a KUKA KR15/2 six-axis industrial robot for 3D printing applications. Now we are attempting to integrate this robot into RoboDK software for offline programming and simulation.

However, the KUKA KR15/2 model is not available in the RoboDK standard robot library. I have then followed the tutorial video "How to Model a Six-Axis Robot Arm" online manuals to manually create the robot model, but I feel uncertain about the correct interpretation of the following four parameters in the "Robot Parameters" dialog:

1.Speed (mm/s) Should this be set to the maximum TCP speed specified in the KUKA documentation?
2.Acceleration (mm/s²) Does this refer to the maximum TCP acceleration?
3.Joint Speed (deg/s) Should we use the highest value among all joints angular speed values listed for each joint (J1–J6) in the manual? If not, which value should it refer to from robot manuals?
4. Joint Acceleration (deg/s²) Similarly to my last question, should this be selected based on the maximum joint acceleration values from the KUKA manuals?

Additionally, I would like to ask whether RoboDK software supports specialized applications such as 3D printing with extrusion nozzles, like：
Generating and simulating motion trajectories along non-planar sliced paths (e.g., curved surfaces)

Could you please provide clarification and guidance on how to properly configure these parameters?

Thank you very much for your help.
Gong, Zejian

[Albert]

You can use RoboDK for 3D printing. However, you should customize the integration of your extruder from your G-code generated from your slicer program to your robot program. You can customize everything in your post processor. You can find an example here:
https://robodk.com/doc/en/Robot-Machinin...rint3Dpost

Do not worry about the speeds and accelerations in the robot parameters menu. These are usually the default speeds and accelerations but they are overridden by the programmed speeds and accelerations.

Do you have the 3D model of your KUKA KR15/2 robot? We can add it for you.

[zejian]

You can use RoboDK for 3D printing. However, you should customize the integration of your extruder from your G-code generated from your slicer program to your robot program. You can customize everything in your post processor. You can find an example here:
https://robodk.com/doc/en/Robot-Machinin...rint3Dpost

Do not worry about the speeds and accelerations in the robot parameters menu. These are usually the default speeds and accelerations but they are overridden by the programmed speeds and accelerations.

Do you have the 3D model of your KUKA KR15/2 robot? We can add it for you.

Hi Albert,

Thank you very much for your reply.

 

The KR15/2 robot CAD model that I got from our uni labs are all graphics bodies. 

I have finished uploading the robot assembly model online, but I don’t know if it is the suitable one for the RoboDK configuration file.

 

Hope you could help me with these parts.

Best regards
Gong, Zejian