Stacking Configuration

For the First time in Forever

Tonight, Sean makes noise, Jawwad orders sandwiches and Kuka draws Lines

In the process.

Bender Defeats KUKA...Sort of!

 Jawwad doin' his thang!

Originally scanned polysurface

This was the draped surface we would use on the CNC Router

ROUTE IT!

This is the face almost done, just a few more passes

 All finished! We decided to run part of the code before painting the face, just in case we ran into some difficulties (which we inevitably did)

KUKA meet your tool professor!

We tried to be as exact as we could when teaching the robot the tool, to reduce the possibility of inaccuracy

The lowest margin of error we managed to achieve was of 0.974mm

Before running the surface code, we ran a secondary script that had the four corner points marked out so we could position the face as exact as possible

The weird thing was that the left side of the face ran without any problems, at this point we were all excited since the previous week we were unable to get the code to work. However, KUKA would fight back at an attempt to ruin our day

Turns out the right side of the face was a little too close to the robot, and it caused Axis 3 to lock up

The right side was not liking our code so we re-did it and got this:

Kuka being Picasso

Kuka Owns TeamBender- 1:0

 Setting the tool up and recording the reference points.

 Kuka doesn't like writing with his hand, we have to tape the pen to its funky arm.

 Code testing 1....

 To test the z-axis, we had the foam stacked up to make sure the z axis of the face and the end of the pen is on the same level.

 After confirming the z-axis, we started the drawing process. In case of any failure and flaw may have to the wax face, we overlayed the face with tracing paper.

 Kuka smashed the pen into the face and almost broke the pen...

 The pen is screaming and bleeding the ink...

Even with a few more runs, Kuka was still not drawing the lines according to the face and the code. All the lines seemed random and all the lines seemed to be squeezed together...Kuka totally owned us with its arcane inner power.

The following is a footage of Kuka drawing with the maker...