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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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Digital commissioning of a robotic production system for foam seal application
Kracík, Lukáš ; Szabari, Mikuláš (referee) ; Vetiška, Jan (advisor)
This diploma thesis focuses on the design and digital commissioning of a robotic system for foam sealing application. The research review section of this thesis describes the issues of offline robot programming and the subsequent digital commissioning. Additionally, a survey of available equipment in the field of robotic application of tape material was carried out. In the practical part, conceptual designs of the robotic workstation were proposed. The chosen design variant was constructed and subsequently digitally commissioned using Tecnomatix Process Simulate, TIA Portal and Robot Studio software.
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Parametres of 3D printing of concrete
Navrátil, David ; Szabari, Mikuláš (referee) ; Kočiš, Petr (advisor)
The bachelor thesis deals with the investigation of 3D printing parameters of concrete in the context of minimizing imperfectly homogenized mixtures with known printing methods. The first part of the thesis is devoted to the research, which is divided into three parts. In the first part of the research is a topic dealing with known technologies of 3D printing from concrete. The second part of the research is devoted to the description of the individual components of 3D printing equipment. As the last part of the research is the determination of basic parameters of 3D printing from concrete, including their description. The second part of the thesis starts with the system analysis and formulation of the problem. This is followed by a listing of the identified parameters of the printers offered by the selected companies. Then, a multicriteria analysis was performed to decide on the printer with optimal parameters, which are associated with minimizing the waste of the imperfectly homogenized mixture. The thesis concludes with a discussion of the possible continuation of the problem, together with its own recommendations for practice.
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Design of end effector for automatic assembly of O-rings
Brejša, Adam ; Bražina, Jakub (referee) ; Szabari, Mikuláš (advisor)
The bachelor thesis focuses on the design of an end effector for the automatic assembly of o-rings with circular cross-sections. The theoretical part of the thesis first deals with the general distribution of end effectors, followed by the current state of knowledge in the automatic assembly of o-rings. In the practical part, an analysis of the solution was first carried out and necessary assumptions were established. The following part focuses on the design of three conceptual variants, from which the most suitable solution was selected using multicriteria analysis. This variant was then further developed and a construction plan was created, complemented by drawing documentation. The last chapters are devoted to the economic evaluation of the design and its evaluation in practice.
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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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Research and description of a design parts for 3D printing of concrete
Pondělek, Patrik ; Szabari, Mikuláš (referee) ; Kočiš, Petr (advisor)
This work provides a comprehensive overview of the current state off knowledge in the field of construction nodes for concrete printing devices. The research focuses on potential methods of 3D concrete printing. The main construction nodes and key technological processes, from the preparation of the concrete mixture to its extrusion, are described in detail. A systemic analysis examines the interrelationships between individual construction nodes and their application in 3D printing of structural concrete elements. Based on the obtained information and the results of a multicriteria analysis, suitable construction elements and the composition of the concrete mixture for printing the machine frame are identified. The final discussion presents practical recommendations regarding the selection of a suitable 3D printing method for the given application.
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Design of end effector for automatic assembly of retaining ring
Rychlý, Antonín ; Štěpánek, Vojtěch (referee) ; Szabari, Mikuláš (advisor)
The bachelor thesis describes activities related to the creation of a structural design of a robot end effector for automated manipulation and assembly of circlips. The basic classification of effectors and their actuators is discussed, followed by design options and evaluation of their suitability. The selected variant consists of a stepper motor with a planetary gearbox and two parallelograms connected by gears. The resulting variant is constructed in detail and the most stressed parts of the motion mechanism are checked for strength. Thesis finally discussed about the cost estimation and it is evaluated.
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Construction and application of mobile robots suitable for industrial (production) use
Botek, Martin ; Szabari, Mikuláš (referee) ; Knoflíček, Radek (advisor)
This thesis deals with the application and design of automated guided vehicle trolleys and autonomous mobile robots and the trends towards their use. In the first part, a system analysis of the implementation of robotization of the work environment using a mobile robot is carried out. The second part focuses on the history of robots, their definition, the classification of types of mobile robots and the analysis of the subsystems that make up a robot. The last part of the thesis focuses on the trends that occur in the design and application of new technologies for mobile robots.
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Design of the robotic work cell
Krňávek, Jan ; Szabari, Mikuláš (referee) ; Bražina, Jakub (advisor)
This bachelor’s thesis deals with the design of a robotic work cell and the subsequent creation of a simulation for a given application. The assigned task involves handling cardboard or polycarbonate sheets with a maximum size of 800x800 mm, inserting these sheets into a plotter, and subsequently extracting the finished cutouts from it using an industrial robot. The theoretical part of the thesis provides an introduction to the issues related to robotic work cell, end effectors, virtual commissioning, and methods of robotic programming. The practical part first focuses on designing a robotic work cell, followed by a description of the individual components located within this cell and the layout of the cell itself. This is followed by a brief description of the process of creating a simulation environment and operations in the TECNOMATIX Process Simulate software. The outcome of this work is a robotic program and a video of simulation demonstrating the given task.
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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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