Inside Axis 4, 5 & 6 of KUKA KR5 Robot 

I'm just finishing up a course on Fanuc robots. Just took one apart and put it back together. Another month of PLC training before I'm done. Any advice on job hunting in the Detroit area?

how do you get the training? I live in Detroit

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Steel wires and polyuretane

There is no belt. They use right-angle gears for 5 and 6, as per the assembly drawings and physically as I have seen.

Are you serious :-)

wow

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@@ArunUdai Your WHatsapp number please i want to discuss about Robot arms. Thanks

@@dhimanbobby1 Just Google my name, you can see that in my profile page of IIT ISM Dhanbad

See how a cyborg builds a tractor in Belarus: ))))) ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-pTH22-GuUes.html

шо?

Boop

😂

индусы реверсят))) крассафчеги хуле)

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That's not a shop, it's a lab meant for academic purposes only. Nicely pointed out though.

Really mom? Let grownups do what they want.

@@rogerwalsberg Yeah, you're right, let them lose some toes, or cut their feet if they feel like it.

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I’ve been in an “academic environment” with industrial robot arms and no protective equipment…almost saw a kuka drive a pipe down a coworker’s skull

Glad to hear that

Victor Jaramillo They use Nabtesco precision gear boxes. It is not documented anywhere. You may find discussions in different forums.

In general nu folosesc cutii de viteze ci variatoare electronice de turatie ( RPM) controlate de senzori da pozitie miscare etc

ремень хорошо передает, подозреваю, что в шарнирах есть планетарные передачи

Bruh It's for industrial purpose, gotta do some heavy lifting

+Umberto di pietro Length depends on your transmission design. The strength may vary, depending on the load it intends to carry.

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The motors constantly check and correct their position, so the actively push against the load.

The resolver position is monitored and if it varies the motor corrects itself. (If the robot is active). If the robot isn't active, servo brakes are applied.

Maintenance manual is included in the KUKA CDs set that they give along with the robot.

Its our Lab. at IIT Delhi.

A quick answer would be KUKA LWR iiwa

Yes there is additional arrangement for another 2 axis in kuka robo

Cycloidal gears.

В чем тут инновация? Тут все механика и все равно немецкое говно

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elektrinis Not planetary. It is belt drive and concentric transmission.

What kind of reduction does it have inside the pulley? Pulley clearly spins much faster than the joint. Did not count it, but looks like 20:1 or so.

These are Nabtesco gearboxes, which are planetary gears I suppose.

20:1 would be bit too much for planetary, also high backlash... Looks like Cycloidal, if this is correct: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-kDje98Au0Ag.html Nice drive.

Yeah. Quite true. I never opened it up. And Kuka never documents these too.

Nice input. Hope KUKA is working on that.

@@ArunUdai I doubt that. When KUKA was training the first batch of maintenance , their official line was that those robots were capable of "ABSOLUTE" positioning at top speed of 2 m/s at the tip of the tool. We found that statement to be bullshit because the tip of the weld gun can wiggle an inch or better under inertia of th he robot arm. The bigger the robot, the worse it wiggles (6400 type was the largest we had). All the slack in the drive train fit adds up. ABB used direct drive motors in the axis joints. No slack to speak of except the belt in some applications. Only thing to worry was wiring harness chafing internally. That happens sometimes after years of flawless operation.

These are Nabtesco cycloidal gears.

Yes. To make it truly 6 Axis for 6-DoF

no planetary gears, those are harmonic gears

Maybe harmonic drive

+akhilsubin Axis 4, 5, and 6 are coupled. Please see our paper (link is given) on the subject.

akhilsubin has

These are standard servo motors included with KUKA-KR5 Arc robot. IFK7 series Siemens permanent magnet excited synchronous motors - commonly referred as AC servo motors.

with position feedback

Arun Dayal Udai are they single or three phase ? and what kind of position feedback is used ?

Their speed and position are controlled by frequencies of single phase coming off of the KUKA POWER SUPPLY (KPS). They use resolvers to read the position that is converted from Analog to digital by the robot and sent to the controller.

Scheiß egal

Florin Mindrila 5 Kgs for KUKA KR5 Arc robot.

Anh Tuấn Hồ but they are using the Japanese harmonic gears ;-)

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These are permanent magnet synchronous motors.

they are not stepper motors they are industrial servos

CNCs aren't usually stepper motors - not accurate enough. They typically use axis motors with built in encoders, or the encoders may be mounted separately on the ballscrews. These link through the servo drives to report back to the control where each axis is

why is it a mistake?

try when the belt is broken you will understand

how often does it break?

I've never seen one break, Can't imagine why it would unless you kit something very hard. The tensile members are steel

we had 24 robots 8 in one years belt broken

'Do no harm' protocols are overridden

More money for the creator lol

Even I didn't had any idea before opening this gear box.

KUKA is a German manufacturer

@@jalil16 owned by a chinese company.

Да. Но ремни необычно движутся, гнутся и перекручиваются.

Can u tell me 6 axis robo arm price I want to buy for work station