7-AXLE ARTICULATED KUKA

Marcelo Enriquez Velasquez

Universidad Catolica Boliviana ”San Pablo” (U.C.B.)
La Paz, Bolivia
[Link]@[Link]

Abstract—This paper shows the prototype of a 7-axis articu-

lated kuka system, with the purpose of seeing a smaller version of
the famous Kuka machine and being able to be more efficient in
different angles and positions of movement. For which systematic
analysis of movement and position relationship between all the
parts used were performed, to finally show a fault-free movement,
to meet its objective.
Index Terms—Anthropomorphic, Components, Design, Flexi-
bility, Motion

Fig. 1. Use of robotic arms

I. I NTRODUCTION
B. KUKA 08422 system
The design below shows the development of an anthropo-
morphic arm, known as Kuka with 7 degrees of freedom, the A Kuka kr quantec takes care of the loading and unloading
design was raised from the original basis of a robot arm with of a machine tool in its own production. Thanks to robotic
5 degrees of freedom, however, a displacement system was loading, KUKA Roboter GmbH saves setup time in machining.
implemented using a sliding crank, to reach a greater distance KUKA Roboter GmbH, based in Augsburg, is one of the
on the abscissa axis, therefore, the first procedure that was leading manufacturers of industrial robots. [2]
performed was the calculation of distances, depth, calculations
of existing parts and their speed, then design the parts through
a graphical simulator known as Solidworks.

II. O BJETIVE

The present mechanism is intended to be a more complex

robot capable of surpassing similar systems in terms of mo-
bility. Its different parts are joined and connected to make its
rotation and translation movement more efficient.

III. D EVELOPMENT

The following is a complete analysis of the Kuka 6-Axis

Articulated System, starting from its origin, uses, design,
simulation and implemented calculations. Fig. 2. KUKA

A. Robot arms history • KR DELTA Robot hygiene. Carga: 3 kg. Max. alcance:
1200 mm.
Robotic arms are mechanical arms that function like those of • KR 3 AGILUS. Cargo: 3 kg. Max. alcance: 541 mm.
human beings but with the particularity of their construction. • KR 4 AGILUS. Cargo: 4 kg. Max. alcance: 600 mm. ...
They have joints that make them flexible and adaptable to • KR SCARA. Cargo: 6 kg. Máx. ...
perform multiple movements and functions. In general, this • KR AGILUS. Cargo: 6 - 10 kg. Máx. ...
type of machines are usually part of a larger tool and their • LBR iiwa. Cargo: 7 - 14 kg. Máx. ...
functions depend on the and their functions depend on the • KR CYBERTECH nano. Carga: 6 - 10 kg. Máx. ...
objective to which it is directed. [1] • KR CYBERTECH nano ARC. Cargo: 6 - 8 kg. Máx.
C. Applications

Car factories and large assembly and structure creation

industries employ this type of robotic arm. In the automotive
industry, the assembly or adjustment of parts is a recurrent
place to place these machines. However, they can also be used
for pick and place. That is, to transport heavy materials from
one place to another or place them inside the structure of the
car. In addition, arms with more sophisticated rotations can
perform painting work on finished cars.

D. Design Fig. 4. paper desing

The following is the basic design of the mechanism starting

from a sheet of paper to define the appropriate size and
For the design of the mechanism, we proceeded to make dimensions of the mechanism.
a diagram on paper of the dimensions of the parts and their 1) Base
possible assemblies, for which the mechanism was divided For the base of the mechanism, a long design capable of
into 2 parts: moving from one position to another was considered, so its
length is important.
• The first part, the rotation and translation movement.
• The second part consists of a robotic arm inspired by the
Kuka system.

Fig. 5. Base

1) base
2) central circumference
3) nuts to be screwed to any table
Fig. 3. paper desing 4) elevation for the sliding rod
 • sliding arm base • large gear
The next base is the part that joins the fixed base and the The large gear is used to rotate the small gears that are in
mechanical arm, with which a sliding movement from one contact with the internal gear, this moves all 4 at the same
position to another is probable. time making a stronger gear rotation.

Fig. 9. Crossbeam.

Fig. 6. Upper swing arm

• small gear

• Connecting rod
The small gear is the one that joins the internal gear with the
center to rotate.
To perform the translation movement, the use of a connecting
rod, which is capable of moving a heavy object by means of
a motion transmission, was reallized.

Fig. 7. Control rod Angle of fall Fig. 10. Upright

• planetary circular gear • crosshead for gear

The planetary gear is used so that the mechanical arm is able The crosshead is an important part to attach the gears to the
to rotate the base without having to move the whole system, base, it allows the base to be attached and to be able to rotate
2 types of gears were used, one large and one smaller, and and move.
finally an internal gear that rotates the system.

Fig. 8. Vertical Connecting Rod Fig. 11. Upright

 • base for arm

The arm base is the rigid part that must support the weight of
the arm, and it must also travel the necessary distance.

Fig. 14. Upright

• kukas Arm
The movable arm is the part that is able to support heavy
bodies, in addition to its curved shape gives a better grip to
the system, not to mention that it allows the maximum length
of movement distance.

Fig. 12. Upright

• fixed column

The rigid base is the physical part that supports all the
movement of the teeth and the claw of the mechanism, it has
the function of being rotating and maintaining the weight.

Fig. 15. Upright

• Drill arm
The drill arm is so called because of its robust composition
that has to support perpendicularly the rest of the mechanism,
this has the function of having a motor in the center to rotate
the gripping claws.

Fig. 13. Upright

• movable arm
Fig. 16. Upright

The movable arm is the part that is able to support heavy

bodies, in addition to its curved shape gives a better grip to • The rotating arm
the system, not to mention that it allows the maximum length The rotating arm is the part that allows the claws to rotate 360
of movement distance. degrees.
 To determine the functionality of a mechanism it is neces-
sary to perform some mathematical calculations such as the
simulation of the same, therefore, all this analysis is presented
below with their respective graphs.
1) SPEED CHART
For the speed graph, the speed of the sliding rod was used
and with a constant speed of 60 RPM, the following graph
was determined

Fig. 17. Upright

• claw joint
The claw joint, is the park that joins the claws to the mecha-
Fig. 21. graph
nism.
In order to determine the velocity by means of the graph, a
vector analysis was first performed using Solid Work.

Fig. 18. Upright

Fig. 22. graph
• claw
The claws are the part of the mechanism that allow objects to 1) trace route
be gripped. The stroke path is the part that runs through the mechanism
and keeps it constantly forming a figure, which according to
the theory, is classified into different types depending on the
movement.

Fig. 19. Upright

E. mechanism calculations

Fig. 23. trace route

Fig. 20. Crossbeam. Fig. 24. trace route

 IV. C ONCLUSION
In conclusion, the system proved to be effective in the tests
and showed that the calculations used were correct, the design
proved to be competent and did not show an error or failure
in the motion transmission ratio or routing.
R EFERENCES
Fig. 25. trace route
[1] Admindav, “¿qué son los brazos robóticos?: Robotesfera,” Mar 2019.
[Online]. Available: [Link]
[2] “Kuka 08422.” [Online]. Available: [Link]
wikifab/[Link]/KUKA 08422

Fig. 26. trace route

• Angular velocity
The angular velocity diagram of the gear at the moment of
rotation was determined.

Fig. 27. trace route

• Calculations for planetary gearing

For the development of the planetary mechanism the following
equation is used

for this mechanism we used a module equivalent to 3, with

which the allowed diameter could be calculated as 120 and the
value of the number of teeth as 40. all thanks to the equation
Mod=Dp/N For the internal circular gear we used the param-
eters of a module equivalent to 3, with which we were able to
determine the primitive diameter being this equivalent to the
following equation
diameter -(2.5* module) and the value of the angle of the
teeth being this equivalent to 3.6 due to the following equation
360/ number of teeth, giving a value of 3.6 degrees.