Parametric Tool Designer for KUKA PRC
In architectural research, a significant challenge in robotic fabrication is replicating setups due to the unique configurations used in each study. There is a lack of a unified software platform connecting various researchers and their robotic setups. Additionally, the fabrication tools are typically not open-source and may not be versatile across different scenarios. I suggest using Grasshopper’s parametric modeling capabilities to address these challenges to create flexible robotic tools. Specifically, I’ve developed a definition that allows the design of tools. They are compatible with all robots in the KUKA PRC add-on for Grasshopper. KUKA PRC is widely used and recognized, making it an excellent foundation for this study. I collected flange data for all supported robots, enabling the creation of adaptable and parametric tools. I included an example tool to demonstrate the potential of this Parametric Tool Designer for KUKA PRC.
The Grasshopper definition features a Python script that outputs parameters like the bolt circle radius (R), the number of bolts (B), their size (M), and an optional rotation angle (H) around the flange. Additionally, I included an example, a parametric pointer tool, that fits all KUKA robots. Outputs include the 3D-printable model of the tool, the Tool Center Point (TCP) coordinates, and the Tool ID. The TCP coordinates facilitate tool calibration on the robot using the direct input method, avoiding needing a four-point calibration process. The definition requires the KUKA PRC add-on for robot information and uses native Grasshopper components. The definition is compatible with these robot models:
Agilus KR3 R540, Agilus KR6 R700, Agilus KR6-10 R1100, Agilus KR6-10 R1100-2, Agilus KR6-10 R1100-2 w/ AirSkin, Agilus KR6-10 R900, Cybertech KR12-KR20 R1810, Cybertech KR8-16 R2010-2, Cybertech nano KR10 R1440-2, Cybertech nano KR8 R1620, Fortec KR600 R2830, Iontec KR50 R2500, KR125/2-200/2, KR150-240 – 2 L130/210, KR200 comp, KR30L16, KR5 arc HW, KR6/16/20-3, LBR iisy 3 R760, Quantec KR120 R3900K, Quantec KR90-KR120 R2900, Quantec KR90-KR270 R2500, Quantec KR90-KR270 R3100, Quantec-2 KR120-KR210 R2700, Quantec-2 KR210 R3100, Agilus KR4 R600, Cybertech nano KR6 R1820, Agilus KR6-10 R900-2, Fortec KR480 R3330 MT, Cybertech KR22 R1610, Cybertech nano KR10 R1420, Iontec KR30-70 R2100, KR1000 Titan, KR150-240 – 2 L110/180, KR150-240-2, KR30/60/HA, KR360-500-2, KR6/16 Arc, KR60L30/HA, Quantec KR120 R1800 nano, Quantec KR210 R3300K ultra, Quantec KR90-KR150 R3700K, Quantec KR90-KR270 R2700, Quantec-2 KR120-KR150 R3100, Quantec-2 KR180-KR240 R2900, Quantec-2 KR250-KR300 R2700
Cite this post
Related Posts
Robotic Chopstick Digger
October 29, 2018
Today in the Digital Fabrication course, we examined digital-physical translations utilizing the robots add-on for Grasshopper. Students learn how to get coordinate data from a physical environment, use it in the digital model and apply it to a robot motion. We aimed to dig chopsticks into an EPS block by using a special wooden tool called “Chopstick Digger”. In the first hour of the class, we attached the “pointer” tool, which is already calibrated to the robot. Students used “Actual…
Robotic Chopstick Digger Exercise
November 5, 2018
Today, we tried to understand one of the ways of generating multiple planes in Grasshopper. This is an important step in utilizing the robot program efficiently. Instead of manually jogging the robot, we designed the path that the robot will dig lots of chopsticks. In the “Robotic Chopstick Digger Exercise”, every student designed their own paths and decided the height, orientation, and number of sticks to be dug on an EPS block. I provided the Rhino and Grasshopper files with…
Tool Calibration in Robots
October 11, 2018
On the second day of the Digital Fabrication course, we tried to understand what is a “tool” and how to draw/ produce/ attach/calibrate a simple penholder tool for our robot. This study will hopefully make students aware of the effects of these procedures in robotic design and fabrication. The tool we used here is based on this Rhino drawing laser-cut from a waste plexiglass sheet. The flange of our robot has a diameter of 50mm and has 8 holes for screws with a…
Robotic Path Planning for Concrete Printing
August 19, 2026
Three-dimensional concrete printing (3DCP) is an innovative digital fabrication and automation technique based on additive manufacturing that enables the creation of complex and customized structures in the architecture and construction industry. Its most notable advantages include eliminating formwork costs and labor (Buswell et al., 2020; Lyu et al., 2021; Kaliyavaradhan et al., 2022) and facilitating the fabrication of structural elements with complex curvatures, particularly in printing systems utilizing industrial robotic arms (Alabbasi et al., 2023; De Soto et al., 2018)….
Robotic Sandblasting Continued
August 17, 2026
We continued the previous week’s experiments with Efecan. Using the sandblasting tool, we started performing point and line tests. The Grasshopper script I developed for this process is below. It allows us to move the gun along defined paths or execute target shots at specific points. To mount the IBIX pressurized gun onto the Kuka KR-20 model robot, I 3D-printed a custom adapter using PETG. Although it required a bit of force, the gun fits tightly into the adapter; it…