[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

[zejian]

Hi Albert,

I am currently working on setting up a KUKA robot simulation and have run into a few format compatibility issues. I would appreciate your guidance on the following:
1. Issue with STL Splitting: I attempted to import the last KR15/2 robot CAD model provided as a single STL mesh. However, I was unable to use the "Split Object" function in RoboDK to separate the robot joints correctly, as in data sheet. After converted it into STEP format using SolidWorks, an error message shows ‘Unsupported curve type’ appears. Then the STEP format joint model are always output at a size of 1 KB.

2. .3dxml Format Support: My colleague has provided the official KUKA model file in .3dxml format (Catia/3DExperience), specifically for a KUKA KR15/2. Does RoboDK support importing .3dxml files directly? If so, can this format be used effectively to define a custom 6-axis robot mechanism?

3. URDF Import: Our robotics lab primarily uses a ROS environment. We plan to create a URDF package for this KR15/2 robot, which includes .obj files for visualization and .stl files for collision geometry. Does roboDK software have a native workflow or plugin to accept URDF descriptions directly? This would greatly simplify our setup process.

Thank you for your help.

Best regards,
Gong, Zejian

[Borgis1]

1, surface modellers allows "errors" in their models, like intersecting surfaces. They are not errors per say, but cannot be described in a brep format. In an stl most stuff seems possible, throw more triangles on the problem.
2. You have the official model from kuka? that model should be convertable, they even have step files for all their robots, so you dont have to convert yourself.

[zejian]

1, surface modellers allows "errors" in their models, like intersecting surfaces. They are not errors per say, but cannot be described in a brep format. In an stl most stuff seems possible, throw more triangles on the problem.
2. You have the official model from kuka? that model should be convertable, they even have step files for all their robots, so you dont have to convert yourself.

Hello RoboDK Team,

 

Thank you for your previous support.

I have received the KR15/2 robot model in STEP format from KUKA Customer Service. I attempted to import it into RoboDK, but currently, I can only open the file using eDrawings. Therefore, I’m not sure if this issue is related to my research license of software.

Could you please assist by performing a Split Object operation on this KR15/2 STEP model? Once split, I will proceed with configuring the D-H parameters on data sheets.

 

Additionally, I have a .rdk form 3D print head 3D module file from our supplier with an additional designed adapter plate as custom tools. However, the adapter plate mounting point defaults to the robot model base origin instead of the Joint 6 flange. It’s difficult for me to adjust the reference to its correct tooling connect point. It would be nice of you to convert it into a proper .tool file with correct robot flange mounting and TCP points.

Thank you for your help.

Gong, Zejian

[Olivier]

Here I have split and prepared the model for you. 

For the tool, just drag and drop the extruder object on the robot once it is done and it will convert into a .tool automatically.

You can adjust the physical position of the tool by double clicking it->More options and entering the correct coordinates.