• Table of contents
• Robots
  • ABB robot cell
  • Robot Implementation Notes
  • Viper Robot Arm

Robots¶

ABB robot cell¶

Design Lab has an ABB 1600/5 Robot available for Capstone project use.
This is a large industrial robot capable of high resolution and accuracy of movement.

Quick specifications

• reach - 1.45m
• payload - 5kg
• 16 digital input - 24V max ??A
• 16 digital output - 24V max ??A
• 2 analog output -
• 4 pneumatic outputs single acting @ 90 psi
• 4 pneumatic outputs double acting @ 90 psi

Components of the robot cell

• light curtain
• occupancy sensor mat
• tool changer

An Operating Manual for the cell, along with manufacturer manuals and spec sheets for many of the components of work cell are in Repository - https://designlab.eng.rpi.edu/edn/projects/capstone-support-dev/repository/112/show/Robotic%20Work%20Cell

YouTube is a great resource for learning basic operation

• Jogging an ABB Robot using the Flexpendant - https://www.youtube.com/watch?v=cRQUxkt73is
• Creating a simple program using the pendant - https://www.youtube.com/watch?v=UQrS6OWtc7Q

Google is a great resource for looking up error codes.

Robot Implementation Notes¶

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Viper Robot Arm¶

Design Lab has a pair of ViperX 300 6DOF robot arms on moveable bases and vision capabilities.

• Arm - https://www.trossenrobotics.com/viperx-300-robot-arm-6dof.aspx
• Vision kit - https://www.trossenrobotics.com/interbotix-arm-vision-kit.aspx
• Moveable base - https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/rover-kits/a4wd3-mecanum/
  • manual for base battery charger - https://www.manualslib.com/manual/864289/Imaxrc-B3-Pro.html#manual
    • NOTE - actual charger is good for 1000mA, NOT the 750 this website claims. ALL other specs/instructions in webpage are identical to paper manual