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Robotic manipulator control
Černík, Filip ; Sedlařík, Marek (referee) ; Vyroubal, Petr (advisor)
The work deals with familization of the project called BCN3D-Moveo. What is it and how it works. The project can be divided into three parts: structural, electronic and control part. The construction part includes familiarization with robotic arm structures and obtaining its 3D model for consequential 3D printing and assembly. The electronic part deals with the selection adn connection of the appropriate electronics, for the proper functioning of the robotic arms and. The last control part includes the issue of controlling the entire robotic arm and introduces the control of stepper motors.
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Robotic Manipulator Exploiting RC Components and Servos
Liška, Jakub ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
Cieľom tejto diplomovej práce bolo vytvorenie vlatného robotického manipulátoru, s pou-\\žitím RC(diaľkovo ovládaných) komponentov a servomotorov. V rámci riešenia bolo potre-\\bné robotický manipulátor vybaviť senzorikou, ktorá umožnuje detekciu kolízii s okolím a zabezpečuje tak bezpečnosť obsluhy v pracovnom priestore manipulátoru. Robotický manipilátor je taktiež vybavený absolútnimi enkódermi pre snímanie polohy jednotlivých kĺbov, akcelerometrom a senzormi pre meranie záťaží pôsobiacich na jednotlivé kĺby. O pohyb ramena sa starajú štandardné krokové motory. Samotné telo robotického manipulátoru bolo navrhnuté s ohľadom na jednotlivé komponenty a je možné ho vyrobiť pomocou 3D tlače. Súčastou riešenia je aj užívateľské rozhranie, pomocou ktorého je možné robotické rameno ovládať.
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Embedded Control of Non-Contacting Waveguide Sliding Short
Horvát, Martin ; Pánek, Richard (referee) ; Strnadel, Josef (advisor)
Táto práca sa zaoberá návrhom a implementáciou softwarového riadiacého systému pre bezkontaktný nastaviteľný vlnovodový skrat použitím krokového motoru. Predstavuje návrh systému ktorý podporuje implementáciu ľubovolného komunikačného protokolu, a ktorý môže byť použitý s ľubovoľným krokovým motorom. Predstavený návrh bol implementovaný na mikrokontroléry Texas Instrument AM243x Sitara, využitím operačného systému reálneho času FreeRTOS. Systém podporuje komunikáciu cez automatizačný protokol EtherNet/IP, a cez prispôsobený seriový textový protokol využívajúci UART. Systém bol testovaný a vyhodnotený pomocou testou presnosti pozície, reprodukovatelnosti pozície a testom fázového posunu odrazenej vlny.
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Design and realization of device for cyclic load of test sample in vacuum chamber
Štarha, Matěj ; Šnajder, Jan (referee) ; Krejsa, Jiří (advisor)
The master's thesis focuses on development of device for cyclic loading of standardized specimen inside the vacuum chamber of an electron microscope. Options for source of force suitable for vacuum are discussed and methodology of indirect load measurement is described. Furthermore, hardware for measurement and control is proposed. The software is implemented in two parts: microcontroller firmware and a user application for PC. The device was calibrated using a loading machine and a successful test was performed in the electron microscope.
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Positioning device for light microscope
Materna, Jan ; Čermák, Jan (referee) ; Vlach, Radek (advisor)
The thesis deals with the design and implementation of a device prototype enabling biaxial tilt and rotation of a sample examined with an inverted light microscope. This device is also adapted for remote control. The work first focuses on the research of possible solutions and then on the design of the entire device, including motorization, control, power supply or working with samples.
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Wireless Rotary Head for Scanning Internal Surfaces
Horák, Rostislav ; Strnadel, Josef (referee) ; Malaník, Petr (advisor)
The purpose of this project is to create wireless rotary head for scanning internal surfaces. Which includes design and implementation of device with static and rotary parts. The two parts communicate wirelessly and the rotary part is also wirelessly charged. That enables continuous rotation and measurment. Another part of project is data collection from sensors and communication between parts of the device and also with external world. Focus is given to wireless communication using IR light, wireless power transfer and control of stepper motor. Project describes technologies and principles on which it is based, design and implementation of hardware and software, presentation of achieved results.
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Integration of a touchscreen testing device into automated tests
Mazilkin, Dmitrii ; Krejsa, Jiří (referee) ; Šnajder, Jan (advisor)
The focus of this bachelor's thesis is the design and implementation of a modular firmware and communication interface for the integration of a touch screen tester into automated tests. The text describes the process of creating modular firmware for a microcontroller from STMicroelectronics and its division into separate modules and drivers for interaction and control of stepper motors, sensors, potentiometers and for communication with a computer. The following is a description of the communication interface, implemented using the UART bus, the HDLC link layer protocol and the Protobuf data serialization protocol. Then the Python API is described, which allows controlling the tester from a computer. The last part is devoted to the evaluation of the implemented firmware and communication interface on more complex movements.
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Stability measuring straightness errors in long-term tests
Moravčík, Patrik ; Vetiška, Jan (referee) ; Holub, Michal (advisor)
This thesis is focused on the design and the verification of the automatic correction of the straightness measurement error. Experimentally verified are mechanic gadgets for soft rotation. Several prototypes were created. All of them were tested and evaluated. The whole experiment is evaluated in the conclusion and recommendation for real application was written. In patent research were not any patents relevant to this thesis found, thus we apply our own.
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Stepper motor driver with feedback for positioning platform
Doležel, Michael ; Král, Vojtěch (referee) ; Barcík, Peter (advisor)
Tato bakalářská práce se zabývá návrhem a stavbou uzavřené regulační soustavy pro výšku a azimut optomechanické platformy. Cílem je porovnat rotační senzory a následně navrhnout kontroler pro krokový motor. Prototyp regulačního systému byl postaven s využitím platformy Arduino, řadiče krokového motoru DRV8825, krokového motoru NEMA-17 a hallového senzoru AEAT-9922 pro měření rotace. Prototyp dokáže otáčet krokovým motorem s rozlišením 0.056°, což je maximální přesnost řadiče DRV8825 při použití mikrokrokování 1/32. Deska finálního řadiče byla přepracována tak, aby zahrnovala rozhraní SPI-4 pro hallový senzor AEAT-9922. Deska obsahuje řadič krokového motoru L6470H s mikrokrokováním 1/128 a má rozlišení 0.014°.
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Construction of a small portable 3D printer
Netušil, Jan ; Vyroubal, Petr (referee) ; Bayer, Robert (advisor)
The study is dedicated to the description of 3D FDM printing technology, compares different types of 3D FDM printers and analyzes key components, especially those necessary for a stable portable 3D printer design. It also includes the specific design of the portable 3D FDM printer solution, its assembly, the actual enhancement of the design, and the design and implementation of the braking arresting elements. It also addresses the printing testing of advanced construction materials suitable for 3D FDM printing and provides a cost estimation and evaluation of the cost-effectiveness of building a portable 3D FDM printer.
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