Redesigning The Gripping System Of Kuka Kr5 By Utilizing 3 Dimension Printing Technologies and Arduino

* Co esponding au ho : imo eie [email protected] Redesigning he g ipping sys em o KUKA KR5 by u ilizing 3 dimension p in ing echnologies and A duino Vik o Va ga1, Timo ei Is án E dei1,*, and Géza Husi1 1Uni e si y o Deb ecen, Mecha onics Depa men , 4028 Ó eme ő s ee 2. Deb ecen, Hunga y Abs ac . Du ing his sho summa y o ou p ojec , We’d like o go h ough all he s eps o he p ojec , om he e y i s planning s ages, up o he 3D modelling, and inishing up wi h he ac ual p in ing i sel . We’ e also had he chance o ins all ou inished ool on o he KUKA KR5 i sel , and e alua e he quali y o ou ool using senso s, measu emen , and by analysing ou A duino code. 1 In oduc ion Du ing ou cou se in Robo ics, we had he chance o s udy he KUKA KR5 obo , wi h many o he obo s [1] and au oma ed sys ems [2], bo h heo e ically, and p ac ically, om he basic oolse o he obo ’s inne code and s uc u e. A he momen , he obo uses a wo inge pneuma ic g ippe as i s ool. This g ippe can hold objec s anging o 30 o 45 [mm] in diame e , and cu en ly used o g ip on a ool used o educa ional pu poses. This me hod is su icien , bu a om op imal, conside ing i s small dynamic ange, wo-s a e (open o closed) na u e only enables small objec s o wo k wi h, and mo eo e hey canno be agile as a esul o ei he maximum o ze o g ipping s eng h. Because he Lab does no possess any mo e g ipping ools, i was an ob ious ini ia i e o c ea e mo e a ied g ippe bo h o inc ease he a ie y o ools, and o challenge us wi h his endea ou . We choose a 3 inge pa allel g ippe . As a esul o he sp ead o 3D p in ing echnologies, we could physically mani es he ool in eal li e as well. The supe ision and con ol has been done wi h a Blue oo h module using an A duino. Because he inge s a e unde cons an su eillance by he senso , we can ge accu a e measu emen s on he objec held on o on he ly. We used a FSR (Fo ce Sensi i e Resis o ) dynamome e o ge he cu en clamping o ce on he inge s. A e in eg a ing he ool in o he es en i onmen , we p oceeded o ca y ou some measu emen s and es ing, o make su e ou p ojec was success ul. 2 P esen ing he mechanism As ou i s s ep, be o e we s a ed he 3D modelling, we had o speci y he me hod o mo ing he inge s. The inge s a e 120° o m one ano he , and a e being mo ed by a o a y componen (Fig. 1., Fig. 2.). Fig. 1. P esen ing he mechanism This enabled us o con e o a ional mo emen o linea . Same me hod was used in s eam engines, o being used in mode n ecip oca ing (pis on) engines, comp esso s o pumps. Nex s ep was o de ine he g ea es angle which g an s us sa e and accu a e, collision ee mo emen . A e he measu emen s, we go he p ecise angle o 106° o be used as he maximum ange, which enables us o ha e a scope o 50 [mm] o g ipping, which p o ed o be adequa e. By knowing hese alues, we can use a ske ch d awn in Fusion 360 [3] o accu a ely measu e he upcoming componen s’ sizes, and also o keep ack o he angles, and mechanical model o ou sys em. On he le side o he igu e, we can see he mo o a 0°, hus i ’s ully open posi ion, while on he igh we can see maximal 106°, app oxima ely 50 [mm] long con ac ion. Fig. 2. P esen ing he mechanism ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 93 3 P esen ing he 3D model A e we success ully d awn ou ou pa s, and measu ed hem co ec ly, we can ge o 3D modelling he pa s o ou g ippe . We used Au odesk Fusion 360 o c ea e ou 3D models. In he upcoming igu es, we can see he pa s o ou g ippe sepa a ely. On Fig. 3. we can see he ame o he g ippe , which houses ou mo o , and he ci cula slide s placed 120° apa , o enable he inge s o mo e. Fig. 3. F ame The images down below (Fig. 4.) a e he al eady p esen ed 44 [mm] long push ods (le ), and he o a y componen moun ed o he mo o la e ( igh ). Fig. 4. Push od and o a y componen Fig. 5. shows ou 3D modelled inge , which is made so ha i can slide in he ci cula slide o he ame e o lessly. Fig. 5. Push od and o a y componen Ano he ask was o c ea e co ec a i ing mechanism in be ween he obo and he ool i sel . The 6 h axis o he KUKA KR5 possesses 4 moun ing poin s whe e we can a ach ools. By knowing he exac posi ion and size o hese bo es, we made an adap e (Fig. 6.) so we can i he ool on o he obo easily. Fig. 6. The adap e 4 Assembling he pa s in Fusion 360 As he i s s ep o he assembly, we connec ed he Towe P o MG995 se o o ou ame, hen we moun ed he o a y componen on o i . The chosen se o has g ea ange and g ea o que compa ed o i s size. The able below shows some echnical da a abou i : Table 1. Speci ica ions o he se o [4] Se o ype To que [Nm] Speed [s/60°] Weigh [g] Towe P o MG995 1 0,16 55 Coming up, we added he inge s, sled in om he side in o he ame’s slide s, connec ed wi h he push ods o which he ea e connec ed o he o a y componen . This concludes ou 3D model o he g ippe (Fig. 7.). Fig. 7. Assembled 3D model The g ip ange is he di e ence in be ween he ully open and closed posi ions, which le s us g ab objec s anging om 9 [mm] o 109 [mm]. The adap e and he g ippe i sel can be sled oge he , and hen secu ed oge he wi h sc ews (Fig. 8.). ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 94 Fig. 8. Joining he adap e and he g ippe oge he 5 P in ing ou he componen s in 3D The p in ing has been done by a hi d pa y, a e we ag eed in he e ms and ma e ials o he p in (Fig. 9.). Gene ally, ABS is mo e duc ile, hea esis an and less p one o sha e ing, bu since we won’ need hese ad an ages, since we won’ mo e any hing hea y o ho , PLA was a cheape al e na i e. I ’s also p e e ed by hobbyis s and designe s also endo se i o i s ease o use and la ge colou a ia ion [5]. Fig. 9. The componen s p in ed om PLA Ul imake Cu a akes he bu den o se ing all he pa ame e s o each p in om us, since i au oma ically se s i o us, sa ing a lo o ime. The de ails can be ound in he nex able [6]. Table 2. P in ing de ails pe componen s Componen Fill ac o [%] To al p in ime [hou :min] Weigh [g] Cos [F ] 1 30 2:48 31,1 165 2 30 6:54 82,1 435,1 3 (3 pieces) 30 2:54 23,7 126,6 4 30 00:10 1,6 8,5 5 (3 pieces) 30 00:06 1,2 6,3 Σ N/A 12:52 139,7 741,5 The o al weigh o he g ippe wi hou he sc ews is only 194,7 [g], which akes up he 3,89% o he maximum o 5 [kg] load on he obo ’s las axis. A e we manu ac u ed he pa s, we assembled in he same way as we planned i ou in he i ual wo ld (Fig. 10.). To u he inc ease he g ip s eng h, we used ubbe ends on he inge ips. Fig. 10. The assembled g ippe 6 Con olling he g ippe wi h A duino As he basic me hodology o se os, e en i hey hi an obs acle while u ning, hey won’ s op, qui e he con a y, hey will y o con inuously u n un il he po en iome e inside eaches he gi en angle [7]. This can cause se ious o e hea ing, and la e he ailu e o he se o. To p ojec his issue on o ou design, i s no p e e able o d i e he se o o 0° o 106° as a me hod o g ipping, since i will kill he se o in a sho ime. Thus, we ied o achie e he op imal s a e o g ipping on he objec , hen locking he se o a ha angle, p e en ing u he mo emen s, bu also g ipping on i s eadily. The issue was sol ed by analysing he po en iome e inside he se o. A e we solde ed a pin om he A duino o he signal line o he po en iome e , we could easily, and accu a ely measu e he s a e o he se o a any ime in a scale o 0 o 1024 uni s. hen we used command “Map” o map ou he po en iome e alues o each angle, 122 o 20° and 302 o 126° ( his +20 shi will be bene icial la e ).We sa ed his o he al a iable, which will now always show +20 om he eal alue, which should be accoun ed o . The p og am seen on Fig. 11. basic p emise is o d i e o mo o om 0° o 106° inside a loop, inc emen ing he angle in each loop. As s a ed abo e, he al in ege will keep inc easing wi h he loop, as he mo o is u ning abou , bu i i ge s s uck, i will cease o inc ease. As he g ip happened, he loop will con inue o un, and as I equals wi h he al in ege , we can sa ely say ha he g ip has happened, so we se he se o o he loop’s local a iable x-17. The sub ac ion impo an , since as al equals o x we a e al eady o e u ning by 20°, so we s ep ha down o only 3°which p oduces a i m g ip, ye i s ligh on he se o. ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 95 Fig. 11. A snippe om he A duino code The g ippe can be con olled ia Blue oo h, wi h he Module HC-06, along wi h a ee And oid app downloadable online [8]. The App can send wo commands o he Module, on he i s p ess, i s a s he con ac ion, by sending a + signal, and hen we can p ess i again o e e se he con ac ion, loosening i , wi h he - signal. We’ e d awn he wi ing diag am in F i zing, shown on Fig. 12. [9][10]. Fig. 12. The A duino wi ing diag am The powe o he mo o is supplied by ex e nal sou ce, since he A duino canno gi e i enough cu en o un smoo hly. We also had o wi e in a 1 [kΩ] esis o , so he signals would no luc ua e so much, and we g ounded he whole con ap ion o a common g ound so we achie e he desi ed esul s. 7 Calcula ing he diame e o he held objec By s opping he se o on he g ip posi ion, we can p ecisely calcula e he diame e o he objec held on o, using he posi ion o he se o. The code p esen ed i is ob ious, ha we can use he mo o ’s p esen angle s o ed in x o calcula e he diame e o said objec . We will go h ough he calcula ion in a pa ame ic ashion. On he igu e below (Fig. 13.) we can see he symbols, and o added me hodical app oach, we added he indica ions o bo h le and igh igu es. Fig. 13. No able poin s and edges o he mechanical model (1) As we’ e al eady s a ed x is always shows 20° mo e han he eal alue, so we sub ac i . (2) (3) (4) (5) (6) (7) (8) L1 and L2 a e cons an s. The 8 h o mula ep esen s he 20 [mm] shi om he calcula ed o he eal posi ion. The mul iplica ion o he adius wi h 2 equa es o he diame e o he objec . A e we decla ed he necessa y a iables, we simply implemen ed he o mula in o he A duino code (Fig. 14.), some ime consolida ed oge he o sa ing space (and memo y). Fig. 14. Calcula ing he diame e o he held objec 8 De e mining he clamping o ce using he FSR 400 dynamome e We’ e chose he FSR 400 (Fo ce Sensi i e Resis o ) dynamome e o his ask. The senso is basically a s ain gauging esis o inc easing i s esis ance wi h p essu e in be ween 0,2 [N] and 20 [N] [11]. The measu emen can be ca ied ou easily, isible on his simple wi ing diag am: ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 96 Fig. 15. Wi ing diag am o he FSR 400 measu emen [12] One pin o he senso goes o he 5 [V] powe supply, he o he goes o he common g ound a e a sc ape esis ance. Addi ionally, we connec ed he analog pin in be ween he sc ape esis ance and he FSR 400 (Fig. 15.). A e o e coming he minimal h eshold load (p essu e), he FSR ac s like a esis o o 100 [kΩ]. P opo ionally wi h he p essu e, he esis ance d ops om 100 [kΩ] o a 10 [kΩ] minimum. This means an inc easing ol age on he line, equa ing o da a o us on he analog pin. A e he wi ing had been done, we c ea ed a p og am o acqui e he esul s om aw ol age (Fig. 16.). Fig. 16. The code o he FSR 400 dynamome e Fi s ly, as usual, we decla ed ou a iables. The main loop i s p in s he aw alue o he analog pin on o he se ial plo e . This equa es om 0 [V] o 5 [V] p opo ional o he p essu e, o inc ease he esolu ion, we used he command map o con e his om 0 [mV] o 5000 [mV]. We p in ed ou he ol age o he se ial moni o as well, in milli ol s. Wi hou any load, he p og am simply w i es ou : “No P essu e”. We can calcula e he ol age on he sc ape esis ance wi h he ollowing o mula: (9) By so ing he equa ion, we can ge he o mula: (10) U = 5 [V], R = 10 [kΩ] We implemen ed his o mula in o ou A duino code, esul ing he FSR senso ’s esis ance in [Ω] (Fig. 17.). To measu e he clamping o o he g ippe , we use a 30 [mm], a 60 [mm] and a 90 [mm] diame e es p op, p in ed ou in 3D [13]. We secu ed each p op wi h he g ippe , while ha ing he FSR 400 on one o he inge s. We can see he esul s o he 60 [mm] objec on he image below. Fig. 17. Measu emen esul s o he FSR 400 On he le side, he al eady p esen ed diame e calcula ion is isible, and on he igh , we can see he measu emen esul s he FSR esis ance’s esul s a e necessa y o measu e he o ce ac ing upon he senso , isible on he diag am below, whe e we display he esul s on he y axis, hen in e sec ing ha a 30,60 o 90 (diame e ), hen in e sec ing hose poin s om he a c o he x axis, hen di ide hese alues by 100, we can ge he co ec o ce in [N]. Fig. 18. Diag am o he FSR dynamome e ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 97 In e p e ing he alues, we can see ha he inge ac s wi h 1,7 [N], 1,9 [N] and 2,05 [N] on di e en diame e s (Fig. 18.). 9 Re e ence wo k A e comple ing he se up, we ins alled he g ippe wi h he adap e men ioned abo e o he obo (Fig. 19.), also, we igged he A duino on o he obo as well, o simplici y’s sake. Fig. 19. Rigging he g ippe on o he obo A e ins alling, we manipula ed di e en objec s, li ing hem, o g ipping hem alike (Fig. 20.). Fig. 20. The wo king obo 9 Conclusion We can con iden ly say ha we c ea ed a wo king g ipping ool o he KUKA KR5, and acqui ed use ul and p ac ical knowledge on he way. The code and senso wo king oge he can measu e diame e and clamping o ce, adding ano he laye o complexi y o ou sys em. In his pape we wen o e he de ailed c ea ion o he whole p ojec , and we a e conside ing u he imp o emen s o he ool. Acknowledgmen The publica ion was suppo ed by he p ojec EFOP- 3.6.1-16-2016-00022. This p ojec was co- unded by he Eu opean Union, om he Eu opean Social Fund. Re e ences 1. Zs. Molná , T. I. E dei, N. C. Obinna, G. Husi, „A no el design o an ai -cushion ehicle and i s implemen a ion,” MATEC Web Con . Volume 126 2. T. I. E dei, Zs. Molná , N. C. Obinna, G. Husi, „Su eillance and Secu i y Sys em in he Building Mecha onics Resea ch Cen e ,” Elec ical Enginee ing and Mecha onics Con e ence EEMC’16 - 7 h-18 h-19 h Ma ch, 2016. 3. „Au odesk Fusion 360,” [Online]. A ailable: h ps://www.au odesk.com/p oduc s/ usion- 360/o e iew. [Access Da e: 27 11 2017]. 4. „Towe P o MG995 Se o,” [Online]. A ailable: h ps://se oda abase.com/se o/ owe p o/mg99 5. [Access Da e: 27 11 2017]. 5. „ABS o PLA: Which 3D p in ing ilamen should you use?,” [Online]. 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A ailable: h ps://lea n.ada ui .com/ o ce-sensi i e- esis o - s /using-an- s . [Access Da e: 27 11 2017]. 13. T. I. E dei, Zs. Molná , N. C. Obinna, G. Husi, „A No el Design o an Augmen ed Reali y Based Na iga ion Sys em & i s Indus ial Applica ions,” 15 h IMEKO TC10 – Technical Diagnos ics in Cybe -Physical E a Budapes , Hunga y, 6 – 7 June, 2017 - O ganised by: MTA SZTAKI – Hunga ian Academy o Sciences - Ins i u e o Compu e Science and Con ol. ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 98