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 the Introduction to Architectural Robotics course. 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 you seek to utilize industrial robots in your work
  • What affordances robotics provide that cannot be done through other means
  • Your exposure to industrial robotics (coursework, research assistantships, etc.) to date
  • Which faculty are advising and supporting your work
  • How is the 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; include a 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.

Students 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. The dFAB Lab 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. 

  • CLEAN UP: All mess, debris, and scrap must be cleaned. Stock, tools, and material shall be returned to original state when done.
  • ROOM ACCESS: All entry into room must remain closed and locked except during project execution or preparation.
  • TOOLS: All hand tools tagged with blue spray paint and hosted in the robotics lab never leave the room.
  • DESKS: White tables are for computer/clean work ONLY.
  • STORAGE: Project/material storage must be labeled. A three (3) day storage limit is in effect unless other arrangements have been made.
  • DOCUMENTATION: All robotic research should be documented and stored within the dFAB server located at: dFABSERVER1/DropBox – Robotics
  • APPOINTMENTS: Equipment reservations allow for preparation, testing, research, computer use, operation, and robotic-related workflows. Users must be mindful of limited time and shared space issues.
  • OPERATION: When necessary, all other users must retreat to a safe work-zone and/or leave the space if deemed necessary by the operational status. All users must yield to the reservation/appointment owner.
     

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

  • ALL WORK-ZONES: Work zones are provided for various robotic workflows. With advance notification and permission, users may alter position and affix custom jigs, tools, or objects to the robotic lab 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.
  • 3D ENVIRONMENT: Users are responsible for ensuring proper development and setup of 3D environmental requirements for successful RAPID code generation/simulation.
  • ROLLING VACUUM TABLE: The rolling vacuum table is for robotic workflows ONLY. Vacuum table utilization must be discussed in advance and prior to the reservation/appointment. With approval, past and/or current projects, set-ups, jigs, etc. will be removed for reserved user appointments.
  • STEEL TABLE: The steel table is for robotic workflows ONLY. Steel table utilization must be discussed in advance and prior to the reservation/appointment. With approval, past and/or current projects, set-ups, jigs, etc. will be removed for reserved user appointments.
  • WALL-MOUNTS: Wall-mount jigs are for robotic workflows ONLY. Wall mount jig utilization must be discussed in advance and prior to the reservation/appointment. With approval, past and/or current projects, set-ups, jigs, etc. will be removed for reserved user appointments.
  • ROTARY TABLE: The rotary vacuum table is for robotic workflows ONLY. Wall mount jig utilization must be discussed in advance and prior to the reservation/appointment. With approval, past and/or current projects, set-ups, jigs, etc. will be removed for reserved user appointments.
  • DESKS: White desks are for computer/clean work ONLY.
  • WORK TABLE: Work tables are positioned throughout the lab for fabrication related workflow. 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

  • 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
  • CONTROLLERS:
    • Should remain ON
    • Cases are not to be opened by the user
  • TOOL PLATES:
    • All ATI tool plates are to be dismounted and returned to default configuration (user custom tools removed)
  • TEACH PENDANT (TP):
    • TP is to be treated with GREAT CARE. The 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

  • 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 and 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
  • 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 the motor is on
    • Users should not interfere with environment while motor is on
  • 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 any time for any operation
  • 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 required 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
  • TOOLING: When using Less Dangerous Tooling Attachments (i.e. Gripper, Hot-Wire, Sensory Apparatus, etc.)
    • Follow protocol for mode of operation
  • SPECIAL CASES: Live Command, Indeterminate Operation
    • Modules that may produce non-simulative motion variability are to only be executed under direct supervision by an administrator 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.