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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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Welding manipulator construction design
Fuks, Šimon ; Tůma, Zdeněk (referee) ; Štěpánek, Vojtěch (advisor)
This bachelor thesis deals with the design of a five-axis welding manipulator as an additional device to a welding table. The research focuses on knowledge from arc welding automation, especially on the use of industrial robots and manipulators in this area. A rich selection of accessories for robotic arc welding is also summarized. In the practical part, several conceptual variants are proposed, and the most suitable variant is further developed. The basic technical calculations of the manipulator are presented and the individual construction details are discussed. Furthermore, the work deals with the safety and control possibilities of the designed manipulator. The work also includes a drawing of the overall assembly.
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Virtual commissioning of multi-axis manipulator
Slavík, Vojtěch ; Radil, Filip (referee) ; Štěpánek, Vojtěch (advisor)
This thesis deals with the design and virtual commissioning of multi-axes manipulator, that will be able to create figures using spherical segments according to a template. In the design, emphasis is placed on the visual appearance and simple operation of the manipulator. The thesis presents the design of the model, methods for inverse kinematics solving, communication of used software and the robot control.
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A design of single-purpose saw
Rakhmatullin, Artem ; Štěpánek, Vojtěch (referee) ; Tůma, Jiří (advisor)
This thesis focuses on the design of a single-purpose saw for cutting grooves on aluminum profiles. The work includes the examination of different types of saws, the examination of various design alternatives, the identification and selection of the most advantageous variant, the subsequent creation of a detailed design based on the chosen solution and a comprehensive evaluation of the resulting design. The desired result is a saw design that prioritizes factors such as ergonomic comfort, safety, precision and operational efficiency, ensuring a complete and efficient solution.
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Digital commissioning of a robotic production system for 3D print
Beránek, Ondřej ; Štěpánek, Vojtěch (referee) ; Vetiška, Jan (advisor)
The master thesis describes the design and digital commissioning of a robotic production system for 3D concrete printing. The theoretical part of the thesis includes an analysis of the current state of knowledge in the field of 3D printing in industrial automation. It also includes a detailed system analysis of the problem, in which the requirements and elements of the production system are specified. In the applied part of the thesis, a 3D model of the workplace was created and a simulation of the entire production process and digital commissioning of the system were performed using the ABB RobotStudio software. The output of the of the application part of the thesis is the design is the design of the workplace with a debugged control program ready for use in real operation.
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Measurement of selected physical quantities
Zajíček, Matouš ; Štěpánek, Vojtěch (referee) ; Pruša, Radomír (advisor)
In the introduction of this thesis a brief literary research of existing types and principles of function of selected sensors of temperature, atmospheric pressure, relative humidity, weight and island electric energy sources is performed. The next part is focused on realization of measuring system, meant for usage on beehive, using Arduino development platform. In the final parts of thesis, a control measurement, verifying function of the system, is performed and energy consumption is evaluated, along with designing a suitable power supply.
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Design of the rotary rack for the IRB 4400 robot tools
Palčík, Jakub ; Tůma, Zdeněk (referee) ; Štěpánek, Vojtěch (advisor)
This work deals with design of rotary tool changer for automatic tool change in robot cell. In addition some research have been done on possible components that will be used in design. Than is made 3D model of design. Main purpose of design is to maximize simpilicity. After this designing phase, this design is checked by technical calculations obout required torgue from motor and basic calculation about strength and stiffness. Finally is created assembly drawing and bearing housing drawing .
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A design of five axis machining chuck
Holec, Štěpán ; Štěpánek, Vojtěch (referee) ; Tůma, Jiří (advisor)
This thesis deals with construction for five-axis machining. Objective was to design self-centering vise for five-axis milling. Thesis then includes overwiew of five-axis clamping and selection of manufacturers these clamping jigs. Furthermore, it contains necessary calculations to design of self-centering vise and design in CAD software.
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Design of direct drive tool turret for CNC lathe
Mrkos, Jan ; Štěpánek, Vojtěch (referee) ; Tůma, Jiří (advisor)
The diploma thesis deals with the design of a direct drive tool turret, which serves as a tool magazine for a CNC lathe. In the introductory part of the work, a research was performed in the field of automatic tool change with a focus on tool turrets and their main structural units. The introductory research is followed by the main part of the work, which begins with the selection of appropriate design solutions, followed by a presentation of the tool turret design created in CAD software Autodesk Inventor 2021 and in the final part of thesis the key elements of the proposed design are verified by calculations.
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