Design

There are 7 different blocks we are cutting. Each of them has four straight surfaces and two bent surfaces

HAL

HAL is a grasshopper plugin for robot programming and control. This step is to define all the target planes in Grasshopper using HAL.  Eventually HAL will generate code that can be ran in RobotStudio to actually control the robot. 

Workflow

Straight Cuts

The red target planes on the right define the straight cut for the block edge. 

Bent Surface Cuts

One of the challenges was to cut the bent surfaces. Unlike straight cuts, HAL cannot automatically generate a proper route for a surface with a folded angle, therefore all bent surfaces were manually ruled.

HAL Simulation

RobotStudio

After HAL generates the code, adjustments need to be made in RobotStudio based on the robot and environment settings in the lab. There are five main steps: Housekeeping-in, Pick, Cut, Place, Housekeeping-out. 

Housekeeping-in

Housekeeping-in prompts the user to check the wire temperature and get ready for the main process.

The prompt is shown on the flex pendant. 

Pick

In reality the robot will pick up a 10'' * 10'' * 2'' brick from the tabletop. However, for simulation purposes the final block is picked up as shown below. 

Cut

Place

Housekeeping-out

Effect Images