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Staubli robot Arm – drawing itself.

Staubli robot arm, programmed to stipple with vcode -> gcode -> processing (or alternatively via SVG Inkscape to gcode converter).

Staubli arm donated to MITERS (MIT Electronics Research Society, a student-run hackerspace and machine shop on campus). Documentation acquired from manufacturer and reverse-engineering supplied by fellow MITERS people + London Hackerspace people.

1-itself

DOCUMENTATION:

https://docs.google.com/document/d/1vdSw-iZRFmimktcsEaFfb6ou7YM_tejs_td4TqvhzcE/edit?tab=t.0#heading=h.bisd6ggu7d4r

GITHUB:

https://github.com/MITERS/gdmux

See e.g. GCODE file send command:
https://github.com/miters/gdmux/blob/master/MITERS/sendcmd.py

2-itself-closeup

parents

3-lion

 

Quick start

https://github.com/MITERS/gdmux

Staubli manuals and MITERS specific documentation

Square

 

Running gcode

https://www.youtube.com/watch?v=c9G04pF2bmg

 

 

photos

https://photos.google.com/album/AF1QipMaUkI5_Ts6uI_podBIgbtm9nI42E0korjYPjyy

edit 18 June 2020: Link now fixed to

https://photos.app.goo.gl/QX1h4bjoDv3ngoCU9

projects blog (nouyang)