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Virtual commissioning of automatic welding robot guidance
Podolák, Petr ; Vetiška, Jan (referee) ; Szabari, Mikuláš (advisor)
Automatic guidance of welding robots is an important step in the automation of production processes. Virtual commissioning enables a preliminary preview of the operation of the robotic workplace. In the initial project phase, it provides valuable information for implementation decisions. The goal of this thesis is to first describe the current state of the field, analyse a specific problem, and then carry out the virtual commissioning. For virtual commissioning, describe the individual steps of this process and, at the end, recommend appropriate procedures.
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Using the Beckhoff PLC platform to control the kinematics of an industrial manipulator
Szendi, Adam ; Szabari, Mikuláš (referee) ; Štěpánek, Vojtěch (advisor)
This diploma thesis deals with the development of the control system on the Beckhoff platform for controlling the Scorbot ER7 robot located in the laboratories of the Institute of Manufacturing Machines, Systems and Robotics at BUT. The theoretical part summarizes the basic kinematic structures of industrial robots and manipulators used in practice and also describes the kinematics supported by the Beckhoff platform. The practical part describes the design process of the 3D model including modifications in the NX Mechatronics Concept Designer software and the development of the control PLC program in the TwinCAT3 software including HMI visualizations. At the end of the thesis, the process of virtual commissioning and the selection of the hardware components are described.
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Design of end effector for automatic threading
Jiříček, Lukáš ; Kočiš, Petr (referee) ; Szabari, Mikuláš (advisor)
This bachelor’s thesis is focused on the design of the end effector intended for threading. The end effector should allow for position compensation and automatic tool change. It should be designed for cutting internal threads from size M5 to size M10 using taps. The weight of the end effector structure should not exceed 10 kg. At the beginning of the thesis, research was conducted in the field of end effectors. Furthermore, an analysis of the problem of threading was carried out. In the next part of the thesis, two variants of the end-effector solution were designed, from which the more advantageous solution was selected based on a multi-criteria analysis. A design and calculations were also made for this solution. An assembly drawing and production drawings of selected components were made to represent the design of the effector. At the end of the thesis, an economic evaluation of the end effector was made.
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Virtual commissioning of the robotic workplace for workpiece manipulation
Lorenc, Tomáš ; Szabari, Mikuláš (referee) ; Bražina, Jakub (advisor)
The diploma thesis deals with the issue of virtual commissioning of the workplace and the commissioning of communication channels needed for this purpose. The theoretical part describes the benefits of virtual commissioning, robot and PLC programming and effectors for robots. The practical part deals with the design of the final robot effector, virtual commissioning using the programs Process Simulate and TwinCAT 3, communication between programs and creation of programs for the workplace.
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Design of the robotic work cell for the spot welding
Hrubeš, Kryštof ; Szabari, Mikuláš (referee) ; Bražina, Jakub (advisor)
This work deals with the design and creation of a virtual simulation of a robotic workplace for spot welding in the Tecnomatix Process Simulate. The aim of the work is to get acquainted with the issues of robotic workplaces, especially in the field of spot. Then, based on this knowledge, design a robotic work cell for welding two sheets. The whole process will then be simulated in the Tecnomatix Process Simulate and this simulation will serve as a demonstration in teaching.
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Machine vision for robot guidance
Grepl, Pavel ; Szabari, Mikuláš (referee) ; Vetiška, Jan (advisor)
Master's thesis deals with the design, assembly, and testing of a camera system for localization of randomly placed and oriented objects on a conveyor belt with the purpose of guiding a robot on those objects. The theoretical part is focused on research in individual components making a camera system and on the field of 2D and 3D localization of objects. The practical part consists of two possible arrangements of the camera system, solution of the chosen arrangement, creating testing images, programming the algorithm for image processing, creating HMI, and testing the complete system.
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Design of single-wheel mobile robot
Šustek, David ; Szabari, Mikuláš (referee) ; Kočiš, Petr (advisor)
The master thesis deals with the issue of a single-wheeled robot, especially its construction and movement in more difficult terrain with the possibility of collecting samples. A variant of the robot balanced by a pair of gyroscopes was chosen as the most suitable construction. The robot is able to move in a space with an inclination of up to 24° and is equipped with its own manipulator design.
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Digital commissioning of robotic machine tool operator
Tecl, Michal ; Szabari, Mikuláš (referee) ; Vetiška, Jan (advisor)
The diploma thesis deals with the issue of digital commissioning of robotic operation of CNC machine tools. In the research part, individual types of industrial robots are analysed, including their advantages and disadvantages for the given application. Furthermore, several software used for digital commissioning are described and the possibilities of communication between machine tools and robots are described. In the practical part, a model task of operating two CNC machines is created. A suitable robot, robot tools, part magazines are selected, and a 3D model of the entire workplace is processed. In the final part, both a program for the robot and a program for the PLC controlling the entire workplace will be created.
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Virtual commissiong of the robotic grinding station
Vlašánek, Vít ; Szabari, Mikuláš (referee) ; Bražina, Jakub (advisor)
The diploma thesis deals with the virtual commissioning of a grinding robotic workstation. Issue of the virtual commisionig of robotic workplaces is is described in the theoretical part. The next section explains the procedure of creating a simulation model in Tecnomatix Process Simulate, creation of the PLC program in TIA Portal, which was used to create HMI visualisation as well. Virtual commisioning was done in the end using PLCSIM Advanced software.
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Design of printhead for multimaterial print
Szendi, Adam ; Kočiš, Petr (referee) ; Szabari, Mikuláš (advisor)
The subject of this bachelor thesis is to design a 3D printhead for multimaterial printing, so as to prevent leakage of filament from the inactive nozzle and thus reduce waste material. The first part describes multi-material printheads that are available on the market. The second part deals with the design of variants and the subsequent selection of a suitable variant according to multicriterial analysis. Then follows the creation of 3D models and drawing documentation.
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