Robotic Sandblasting Continued
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 is fixed to the robot with four bolts and clamped down using three bolts and nuts. The smaller gun we use is a standard nano gun, and its adapter was produced using the same method. You can find the 3D models of the adapters below. I plan to refine the adapter design further in the future. As you can see in the photo, since the material being used is abrasive, we wrapped both the robot and ourselves thoroughly for protection. Working with robots, especially when paired with unconventional end-effectors makes their full potential even more evident. The R&D application of this technology in the field of architectural restoration seems to be a very new domain. We plan to push this research further. It is always a pleasure to help researchers from different disciplines.
I attached the Grasshopper definition that includes a set of custom clusters built using Kuka-PRC. I kept the code as simple and flexible as possible. If you want to try, you will need to install the Kuka-PRC add-on for Grasshopper.
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