GrabCAD 模型信息
Marker Holder Tool for ABB IRB 140 Robot — 3D Printed, 30° Inclined TCP · 模型 46047
A 3D-printed marker-holder tool (end-effector) designed to mount on the tool flange of an ABB IRB 140 industrial robot. It holds a standard rechargeable, erasable whiteboard marker (Offi-Esco) so the robot can write and draw on a board — it was built to have the IRB 140 draw the Davivienda brand name and logo. Designed and 3D-printed for the Industrial Robotics lab at Universidad Nacional de Colombia (UNAL), Bogotá. KEY FILES (two versions of the tool): - ensambleInclinadoConFlanche (Autodesk Inventor IAM assembly) — RECOMMENDED. This is the version used in the video. The tool is inclined 30 degrees relative to the mounting-plate Z axis, which keeps the robot wrist away from singularities (gimbal lock) during the drawing motion, giving smoother and more reliable paths. - ensambleSoporteMarcador (Autodesk Inventor IAM assembly) — the earlier, non-inclined version. DETAILS - Mounts on the ABB IRB 140 tool flange - The assemblies include the flange (flanche), modeled to match the mounting-flange dimensions of the ABB IRB 140, so the tool bolts directly onto the robot - Holds a spring-loaded rechargeable/erasable marker so it keeps contact pressure on the board - Around 155 g total weight - Tool tilted 30 degrees from the mounting-plate Z axis (TCP roughly 72 mm out and 156 mm above the flange) - Printable: STL files included - SAT files included for importing the tool into ABB RobotStudio The tool was calibrated in RobotStudio and on the real robot (3-point method plus elongation along Z) and validated by drawing on both flat and 30-degree inclined boards. See the video on this page for the tool running on the real ABB IRB 140. Full source, STL, SAT and RobotStudio station files are open-source on GitHub — search GitHub for: ChrisCuestas / unal-robotics-lab1 Authors: Johan Alejandro López Arias (GitHub: ElJoho) and Christian Cuestas (GitHub: ChrisCuestas) Note: the marker-holder tool is our own original design. The ABB IRB 140 is an industrial robot by ABB, referenced only as the target platform; its model is not included here (it is available in the ABB RobotStudio library).
- 格式
- Autodesk Inventor、AutoCAD、Other、STL、STEP / IGES、Rendering
- 分类
- 3D printing、Educational、Robotics
- 标签
- national university of colombia、universidad nacional de colombia、unal、tcp、drawing robot、eoat、pen holder、robotics、industrial robot、3d printed、robotstudio、abb robot、abb、tool holder、marker holder、end effector、abb irb 140
- 数据更新
- 2026-10-06T04:59:50Z
