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End Effectors in Robotics
Hradil, Jan ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
This bachelor’s thesis provides a summary of end effectors used in industrial robotics. The classification is made from various points of view, but the most important one is according to the industrial application. Regarding previous condition, an analysis of gripper modules is performed. Those units are representatives of the widest application – manipulation. Further on there is shown a possibility of connection between a gripper and a robot in laboratories of Institute of Production Machines, Systems and Robotics and calculation of gripping forces. This thesis contains a summary of the most used industrial robots and manipulators as well.
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Design of virtual model robotic workplace
Chromčík, Adam ; Holub, Michal (referee) ; Vetiška, Jan (advisor)
This diploma thesis deals with the design of a virtual model of a robotic workplace. Robot and robotic workplaces are researched. Further, the design and safety phases of these workplaces are discussed. A conceptual model of the robotic workplace with robot IRB 4400/60 is designed, which is placed in the machine laboratory C1 of the Institute of Production Machines, Systems and Robotics at the Faculty of Mechanical Engineering of the Brno University of Technology. The virtual model is created in Process Simulate 13.0. It is designed to manipulate the dice, weld and operate the vertical machine tool.
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Design of end effector for a robotic cell
Machala, Lukáš ; Pavlík, Jan (referee) ; Tůma, Zdeněk (advisor)
This Master´s thesis deals with the design of end effectors for object manipulation within robotic cell located at the Department of Production Machines, Systems and Robotics, Brno University of Technology. The theoretical part of the work is devoted to a summary of the current state of knowledge in the field of end effectors. The practical part deals with draft of several variants of the solution, from which is chosen optimal variant by the method of multicriteria analysis, after which follows the construction of individual end effectors. The work includes individual 3D models of these end effectors and a rack for their storage, the work also includes assembly and part drawings. The work ends with an economic evaluation, discussion of achieved results and a conclusion.
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Automation of process of inserting the part into the welding device
Adámek, Tomáš ; Tůma, Zdeněk (referee) ; Vetiška, Jan (advisor)
Main topic of this bachelor thesis is the design of the automation process of inserting part into the welding fixture for resistence welding in he company PWO Czech Republic a. s. Valašské Meziříčí, active in the field automotive industry. Based on an intial research, containing industrial robots and manipulators, an automation concept is developed, including an economic assessment of the purpose of this automation. In the second part of the thesis is realized the construction of a suitable end effector, along with the technical documentation of selected parts of the effector.
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Design of a robot gripper
Stoszek, Šimon ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This bachelor's thesis is focused on robotic end-effectors, grippers in particular and is bringing their general overview. The goal of the thesis is to design, assemble and program a three finger gripper. The effector is designed using ROBOTIS Premium building set, especially Dynamixel actuators, obstacle detector and Bioloid frames, 3D printed parts. It is possible to use this three finger gripper in two configurations: centric for grasping spherical objects and parallel for grasping cylindrical objects. Functionality of this end-effector was successfully experimentally verified. Main benefits of the gripper are: its ability to adapt to shape and size of grasped object and to automatically initiate its grasping.
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Design of a Robotic Cell for Bin-Picking Application
Veverka, Ivo ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
This master´s thesis describes the concept of Bin-picking technology, image recognition and the posibility of grasping parts of various shapes. It deals with the interaction between industrial robot, end-effector and recognition cell system in the industrial cell in process of random collection of parts from the box. The practical part is concerned with construction of end effector for a given part of a specific shape in a random selection/collection of parts from industrial pallets. For this operation is used the KUKA KR16 industrial robot and for safety reasons senzor FTC/collision OPS. Further work is designed working cell which deals with the design and layout of the working elements including security.
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Proposal end effector for industrial robot
Dvorník, Jan ; Merenus, Ondřej (referee) ; Budík, Tomáš (advisor)
This bachelor´s thesis deals with the distribution of end effectors used in industrial robotics. The first part describes the basic types of industrial robots. Further deals with division and description types of end effectors. Subsequently, it describes the proces of design and selection of the gripper module. The last part includes connectivity solutions for robot grippers, a proposal power, control and calculation gripping forces.
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Desing of the robotic workstation for automatic tightening screws connections seatback – seat and belt buckle
Kafuněk, Jan ; Šubrt, Kamil (referee) ; Knoflíček, Radek (advisor)
This diploma thesis deals with the problem of designing an automatic robotic workstation for automatic tightening screws connections seatback – seat and belt buckle. The research part of this thesis deals with current trends in the automotive industry, especially with the problem of assembling seats part, with focus on screwing. The design part of this thesis maps the process of designing two variants of an automatic robotic workstation. Special attention was given to the process of choosing the right industrial robot for the task, as well as to the construction of the end-effector and of the resulting 3D data. The right version of the workstation for the consecutive implementation was then chosen based on multi-criteria evaluation. The finishing touch of this thesis is a risk analysis for the implemented workstation.
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Design of tool changer for robotic arm
Ress, Vilém ; Knoflíček, Radek (referee) ; Szabari, Mikuláš (advisor)
Theoretical part of the bachelor thesis deals with research about changing end effectors for robots. The subject of practical part is to design two construction variants of the end effector changing mechanism and their comparison based on multicriterial analysis. Thesis also includes detail construction of the selected variant with necessary calculations and drawings of specific parts.
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