using photo to do mapping in the brick wall,

I thought using the texture will show the nice outline of the picture. But this is not possible in small brick wall.

although i had used the letter posco in the brick wall to make the texture.

The outcome are much-more in contrast form than real. the values are need to put carefully and change for the best result.

the rhino file link is in here.

making different wall pattern:

I have to make different wall pattern, by using rhino and grasshopper.

the height of the wall is 2 meter and length of the wall should be 1 meter.

the brick size is 220, 110, 65 mm as length width and height respectively.

Since the maximum length of the brick wall to be designed is 1 meter, the maximum brick i can place within that wall is limited to 5. but because of the gaping, i can use 4 number of bricks. its hard to create a pattern within the given short span.

Also, the all height of the wall is twice the length, which make it more unstable for different shapes.

some of the pattern developed are shown here:

The link of the rhino file is here.

the file can be found for the above design here.

making the brick wall:

To make the different shape of the brick wall, first i make the surface, the surface was made by two different sets of curve points.

the height of the wall, the smoothness of the curve points, length of the wall, amount of bending in the wall, length of wall offset from the axis line can be changes and according to that, the shape of the wall will be changed.

by using this script, we can make wall to any surface like circle, dome, pyramid etc.

the script i used to make the surface is shown in below.

after that, i create a brick. when creating i divide the size by half so that i can make the English bond.

with that, i make a contour lines, i make a option either to place by same no, of bricks with line dividing by vertical plane or place the brick according to length of the curve.

by doing the offset, after ward i make a brick wall. remaining scripts is in below.

the developed brick wall is shown below.

with just randomly creating the dome, i am able to laying brick. since the dome don’t have the vertical contour differences same, at the top i have less brick then in the button.

The grasshopper file can be found here: this does not need rhino file.

Programming for making wall and the robot path diagram

after making the wall i want to make the path flow of the robot for each brick,

Since i can increase the number of brick, height of wall, size of brick. the path to reach each brick will also changed accordingly.

In the below picture, i make 1 layer of brick, with height 900 mm.

i fixed the robot position, so that i can make the path for the robot.

Still there is one problem, that i couldn’t still able to solve.

the corner is not perfectly aligned like in normal wall have,

I got the same problem with the curve wall, there is always one point where the shape of wall is deformed.

It doesn’t care about the position of robot. because the robot position is given. which need to be checked each time.

The code of the following work can be found here.

Using rhino python to create brick wall continue 2

So, although i had done the same work through the grasshopper, i want to do it through the rhino-python.

i am learner in programming, i also copied some glow of the code to make the brick wall with the size of 220,110 and 55.

with the code, i only have to input wall reference line and height of the wall.

the generated wall is shown in figure below.

the code can be seen in the link below.

using rhino python to create brick wall

i want to make a brick wall by using rhino python.

the python editor in rhino is not user friendly, so i searched any alternative method.

now i can use VS code directly to make any meshes and blocks in the rhino python.

but in the part of making wall, i divide line for a brick, then i need to extrude a line to make the plane, which i am not able to do.

then i tried to do dispatch like grasshopper to separate points alternatively so that i can make a English bond which also i couldn’t solve.

Here is the latest code until dividing the line by the points.

import rhinoscriptsyntax as rs
import Rhino
from Rhino.Input import *
from Rhino.DocObjects import *
from Rhino.Commands import *
from Rhino.Geometry import *
from Rhino.Geometry.Intersect import *

l = 220
b = 110
h = 65
mortar = 10
#first alternate points ap1
ap1 = (mortar+l)
#second alternate points ap2
ap2 = 
curve = rs.GetObject("selct a curve")
divider1 = (ap1)
divider2 = (ap2)
if rs.IsCurve(curve):
    points = rs.DivideCurveLength(curve, divider1)
    for point in points: rs.AddPoint(point)

Robot arm simulation for Automatic Brick Wall Construction in Rhino by using Taco plugin

In this practice i make a sequence for the robot arm to make its path.

First i create all the path for each brick.

The robot follow the path to go there and again follow different path to return in its original position.

First i made a grasshopper sequence to make a English bond brick. the sequence is shown in figure.

Then i take a central top point of each brick to move the robot, which later i connect with the robot path line.

the above picture explain the full diagram of the grasshopper to move the robot. and the picture below explain only robot configuration without the path.

The video of simulation is shown in video below. at the time 0:46

Here the problem is that, the simulation is very fast. And i am unable to figure out what i need to do.

So to look again, i make the path only for 3 brick. the diagram is shown below.

Now with this diagram i did the simulation again. in this one also the speed is fast bu here we can track the robot arm. the video can be seen in the video below at time 0:20

I think the time squeeze whatever the number of path i add. it might be because i use merge block in the diagram to merge all the path.

the rhino and grasshopper file can be found in here.

pick and place following tutorial and fail.

I followed the tutorial below to make a pick and place of the box in the robot studio. my work is not responding like it should have as in the tutorial.

i got the two error. Those are following:

50024: Corner path failure
Description
Task: T_ROB1
Corner path executed as stop point due to some of the following reasons:
Time delay.
Closely programmed points.
System requires high CPU-load.
Program Ref. /Module1/Path_10/MoveL/32
Actions
Reduce the number of instructions between consecutive move instructions.
Reduce speed, use wider spaced points, use /CONC option.
Increase ipol_prefetch_time.
50436: Robot configuration error
Description
It is not possible to reach the programmed position with given Robot configuration.
Task: T_ROB1
Program Ref. /Module1/Path_10/MoveL/35
Causes
The programmed position is such that the Robot cannot reach the given Robot configuration or must pass through a singular point to reach the position.
Actions
Step through the program in manual mode and modify the faulty points. Note that it is possible to continue in manual mode as only first try is stopped. The movement can also be changed by use of SingArea\Wrist, ConfL\Off or be replaced by MoveJ.

as i assume that only thing i use differently is the type of robot.

and i guess that the error is in the path i make not the process.

in my case the box come as planned through the conveyor, then the error come in line 31.

MODULE Module1
	CONST robtarget inicio:=[[1125.375884876,164.835007863,1188.78305451],[0.464357952,-0.081248349,0.880888035,0.042504919],[0,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget Target_10:=[[1115.888553056,247.026438138,897.127017573],[0.025812573,0.100529139,-0.993568464,-0.045269317],[0,-2,2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_20:=[[846.37575723,-88.161392058,675],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_30:=[[874.713865314,-659.169124228,1051.80511657],[0.194200879,0.33644299,0.910168791,-0.143822477],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_40:=[[-253.62424277,-896.161392058,675],[0,0.707106781,0.707106781,0],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Target_50:=[[1210.666249831,163.367058807,1150.62221798],[0.459632123,-0.033203779,0.883701194,0.081902501],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    !***********************************************************
    !
    ! Module:  Module1
    !
    ! Description:
    !   <Insert description here>
    !
    ! Author: cdt
    !
    ! Version: 1.0
    !
    !***********************************************************
    
    
    !***********************************************************
    !
    ! Procedure main
    !
    !   This is the entry point of your program
    !
    !***********************************************************
	PROC Path_10()
        SetDO Output1,0;
        SetDO Output2,0;
        MoveL Target_50,v1000,z100,MyTool\WObj:=wobj0;
        waitDI input1,1; 
        
        MoveL Target_10,v1000,fine,MyTool\WObj:=wobj0;  (ERROR OCCUR IN HERE)
        MoveLdo Target_20,v1000,z100,MyTool\WObj:=wobj0, Output1,1; 
        MoveL Target_30,v1000,z100,MyTool\WObj:=wobj0;
        MoveL inicio,v1000,fine,MyTool\WObj:=wobj0;
        WaitDI input2,1;
!take the box
       
	ENDPROC
    PROC main()

    ENDPROC
ENDMODULE
    MoveL Target_10,v1000,fine,MyTool\WObj:=wobj0;

In this line i got the error.

i am doing it again so that i could know what happen, this time i will check the simulation after each code.

Design a site like this with WordPress.com
Get started