1. ABB IRB-4400 & IRB-6640 : Robotic Cell

ACCESSIBILITY: To utilize the Industrial Robots Safely and Successfully; Users require experience, extensive training, and constant monitoring/attention. The course, Introduction to Architectural Robotics serves as the portal course for the industrial robotics lab. Students that are interested in pursuing coursework and/or research related to industrial robotics in architecture must successfully complete Introduction to Architectural Robotics. Additionally, students that wish to pursue a research project that involves the use of the industrial robots must submit a written proposal to dFAB Administration 90 days prior to the commencement of their project.

This proposal MUST clearly state the following:

  • description of the project and its desired results
  • why do you seek to utilize industrial robots in your work
  • what affordances do robotics provide that can not be done through other means
  • to date, what is your exposure to industrial robotics (coursework, research assistantships, etc)
  • who amongst the faculty are advising and supporting your work
  • how is your project positioned within and relevant to architecture
  • what is the workflow, both software and hardware
  • what are the anticipated tooling and fixture needs
  • what is the duration of the project, weekly schedule, anticipated number of hours and completion date

Upon review of these proposals a dFAB administrator will schedule a meeting with the student(s) to discuss the project and viability for moving forward. Upon successful review of the proposal, students will be approved to use the robot lab to conduct their project.

Student that have received approval to use the robot lab must abide by all policies stated below. Access to conduct independent work is restricted to open and available robot hours as indicated on the dFAB reservation system. dFAB abides by the CMU 'buddy up' work policy to ensure that students do not conduct robot related work alone. Under no circumstances will students pursuing independent projects be given keys or card access to the robot lab. 

a. CLEAN UP: All mess, debris, and scrap must be cleaned. Stock, tools, and material, shall be returned to original state when done.

b. ROOM ACCESS: All entry into room must remain closed and locked except during project execution or preparation

c. TOOLS: All hand tools tagged with Blue Spray Paint & hosted in RobLab, never leave the room

d. DESKS: White Tables are for Computer/Clean Work ONLY

e. STORAGE: Project/Material Storage must be labeled. (3) day Storage Limit unless otherwise discussed

f. DOCUMENTATION: All Robotic research should be documented and stored within the dFAB Server (dFABSERVER1/DropBox – Robotics)

g. APPOINTMENTS: Equipment Reservations allow for Preparation, Testing, Research, Computer-Use, Operation and Robotic Related Work-Flows. Users must be mindful of limited time and shared space issues

h. OPERATION: Should the Operation require, all other Users must retreat to a safe work-zone and/or leave the space if deemed necessary by Operational Status. All Users yield to Reservation/Appointment Owner

 

2. ABB IRB-4400 & IRB-6640 : Work-Zones

a. ALL WORK-ZONES: Work-Zones are provided for various Robotic Work-Flows. With advance notification and permission, Users may alter position and affix custom jigs, tools or objects to ROBLab mounting Surfaces. Users are expected to breakdown, clean, and return Work-Zones to their original state. Altered Work-Zones are subject to change and movement throughout the semester

b. 3D ENVIRONMENT: Users are responsible for ensuring proper development and setup of 3D Environmental requirements for successful RAPID Code Generation/Simulation

c. ROLLING VACUUM TABLE: Rolling Vacuum Table is for Robotic Work-Flows ONLY. Vacuum Table utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

d. STEEL TABLE: Steel Table is for Robotic Work-Flows ONLY. Steel Table utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

e. WALL-MOUNTS: Wall-Mount Jigs are for Robotic Work-Flows ONLY. Wall Mount Jig utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

f. ROTARY TABLE: Rotary Vacuum Table is for Robotic Work-Flows ONLY. Rotary Vacuum Table utilization must be discussed in advance, prior to Reservation/Appointment. With approval, Past and/or Current Projects, Set-Ups, Jigs, etc. will be removed for Reserved User Appointments

g. DESKS: White Desks are for Computer/Clean Work ONLY

h. WORK-TABLE: Work Tables are positioned throughout the lab for Fabrication related work-flow. Work-Table usage must be approved beforehand. Users must label their work and clean-up afterward

 

3. ABB IRB-4400 & IRB-6640 : Manipulators, External Devices, Controllers & TeachPendants

a. DO NOT:

  • Push ANY buttons on the robot
  • Unplug ANY connections on the robot or ATI Robot-Side interface
  • Climb or physically engage robot
  • Place non-toolside objects on the robot
  • Store/place objects on the Track

b. CONTROLLERS:

  • should remain ON
  • Cases will not be opened by User

c. TOOL PLATES:

  • All ATI tool plates are to be dismounted and returned to default configuration (user custom tools removed).

d. TEACH PENDANT (TP):

  • TP is to be treated with GREAT CARE. User is subject to Fines and/or Fees related to TP misuse
  • TP menu user access is restricted to the following:
    • HotEdit, I/O’s, Jogging, Program Editor, Program Data, Production Window
    • User Modules should be uploaded to the USER MODULES folder
    • System Modules and other core files are not to be altered nor delete

 

4. ABB IRB-4400 & IRB-6640 : Operation

a. UNIVERSAL:

  • All Operations will be simulated prior to execution
  • All Users will be aware of non-simulated variables, dress pack, work surface etc.
  • Space will be cleared of debris and extraneous material, taking into account all moving parts of the manipulator not just the TCP
  • Operator will be sober, awake and attentive at all times of operation
  • Operator may be accompanied by other users, teammates, and robotic authorized personnel
  • Robot will not physically engage living organisms.

b. MANUAL MODE:

  • Users will remain clear of working perimeter
  • Operator may be accompanied by other Users and Robotic Authorized Personnel.
  • Operator will hold TP properly while motors on
  • Users should not interfere with environment while motors on

c. AUTO MODE:

  • All Non-Essential Personnel are to leave the area
  • All Essential Personnel are to be on the SAFE side of the light curtain with required Safety Equipment
  • Speed will not be permitted to exceed 2000mm/s at all times for any operation

d. TOOLING: When using Dangerous Tooling Attachments (i.e. Spindle, WireSaw, Plasma, etc.)

  • All Non-Essential Personnel are to leave the room entirely
  • All Essential Personnel are to be on the SAFE side of the light curtain with Safety Equipment
  • Operator will be accompanied by at least one authorized user
  • Stock is to be properly secured
  • Work with particular tools will only occur in designated work zones

e. TOOLING: When using Less Dangerous Tooling Attachments (i.e. Gripper, Hot-Wire, Sensory Apparatus etc.)

  • Follow Protocol for Mode of Operation

f. SPECIAL CASES: Live Command, Indeterminate Operation

  • Modules that may produce Non-Simulative Motion Variability are to only be executed under direct supervision by Admin or Advanced User.  Auto-Mode rules apply.  Active tooling with indeterminate operation should be executed with extreme caution and supervision, and should be preceded with rigorous testing and simulation.