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Design of control system for manipulating platform
Remiš, Matúš ; Andrš, Ondřej (referee) ; Hadaš, Zdeněk (advisor)
This thesis is a part of a project, in which two students participated. The aim of the project is the design and implementation of a wireless control system for the manipulation XY platform. This control system allows the manipulation platform to be battery powered and controlled wirelessly from PC. The project consists of the control system concept design, design of an electronic control unit prototype, firmware design and user control software. The parts of the project that are the subject of this thesis are firmware and software design. Within this work, a test drive unit was also created, which after connection with the control unit serves to verify the funcionalities of the control system. The proposed control system was successfully tested. The result of this work is therefore firmware and software, which can be futher developed within the project.
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Construction of Azimuth Fork Mount
Dostál, Jan ; Matějka, Petr (referee) ; Pavlík, Jan (advisor)
Purpose of this master´s thesis is the construction proposal of azimuth fork mount with load capacity to 20kg including both axes drives. The solution contains design options of azimuth fork mount, calculations, design proposal of the mount and drawings of the shaft, fork and the assembly.
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Control unit for positioning control of the experimental positional table
Fries, Lukáš ; Řezníček, Michal (referee) ; Adámek, Martin (advisor)
The work is devoted to the theoretical characteristics of the used components and its functioning. The main part is focused on practical design and build a functional device for control the position of the table, which is part of some unspecified workplace. Attention is mainly concentrated on the ATmega328, which is part of the module Arduino for control sub systems. The document describes a closer communication with the computer, which can be selected as a control element positioning apparatus. Change of position is provided by two stepper motors. The primary control was designed using buttons and the position information is the operator transmitted to the display. The whole concept is subject to the requirements on the reliability and accuracy with an emphasis on simple operation.
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Position system design
Balogh, Jaroslav ; Čížek, Martin (referee) ; Čech, Petr (advisor)
The purpose of this diploma thesis was to explore possibilities, design and build 2D position system driven by PC via USB. ATmega16 and FT232R were used as the most important parts of hardware solution. Software for control of the position system was designed in C++ Builder and it can run under MS Windows XP. This work is based on semestral thesis and in future can be used in other applications or modified. 2D position system will be later used by UBMI in education and scientific applications.
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Virtual commissioning of the automatic assembly of the stepper motor
Filip, Jakub ; Vetiška, Jan (referee) ; Szabari, Mikuláš (advisor)
The diploma thesis deals with the virtual commissioning of a robotic workplace designed for the assembly of parts of NEMA stepper motors 14, 17 and 23. The theoretical part is devoted to research in the field of industrial robotics and virtual commissioning. Furthermore, an analysis of the problem is performed, on the basis of which variants of the robotic workplace are proposed. Then, these are subjected to multi-criteria analysis, which is used to select the resulting concept. This concept is processed as a 3D model and virtually put into operation, thanks to the resulting line cycle is determined.
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Robotic manipulator for ionizing radiation sample measurement
Míček, Vojtěch ; Štohl, Radek (referee) ; Petyovský, Petr (advisor)
This bachelor thesis is interested in designing of robot manipulator for measurement of active samples for ionizing radiation laboratory of Department of Electrical Power Engineering VUT Brno. The goal is to create robotic manipulator which will be easy to manufacture, easy to control, absolutely reliable, cheap and accurate enough. So, it will radically reduce time consumption of measurement of neutron field. Construction is based on FM-SYSTEME aluminium structural framing, manipulator is controlled by Arduino Nano and movement is provided by stepper motor Microcon SX23-1414 and drver TMC2208.
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The Da Vinci Robotic Surgeon Hand Control System
Jakubík, Juraj ; Rozman, Jiří (referee) ; Sekora, Jiří (advisor)
This bachelor thesis deals with the design of the control system of the Da Vinci robotic hand made by american company Intuitive Surgical. The initial draft consists of linking with the program for control bitword generation in the LabVIEW environment and subsequent execution of movement using stepper motors with the Arduino microcontroller. The resulting design is using servos controlled by analog manipulators connected directly to the microcontroller. Treatment of border position control and slip is considered within both control systems.
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Design of bonding system for PCB repairs
Burian, Jaroslav ; Skácel, Josef (referee) ; Otáhal, Alexandr (advisor)
The goal of this thesis is to design a device for PCB repairing, mainly for conductive traces and soldering pads. The design focuses on mechanical construction, control unit and controling of the whole device, which is semiautomatic. A great deal of emphasis is placed on the simplicity and versality of the construction. The teoretic part of this thesis is addressed to the printed circuit board and its repairs. There are presented existing devices for repairing of those defects in the second part. The next part is focused on the design itself in terms of mechanical construction and choosing electrical components. There is described controlling of these components. Part of making mechanical components follows. Last but not least, firmware, which controls whole machine is described there. Finally, the machine was tested in the repair process of the solder pad on the printed circuit board.
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Two channel stepper motor controller
Hýbl, Matouš ; Arm, Jakub (referee) ; Žalud, Luděk (advisor)
Cílem této práce je vývoj dvoukanálového kontroléru krokových motorů. V rámci práce je popsán jak vývoj elektroniky, tak vývoj příslušného software. Elektronika kontrolŕu je založena na mikrokontroléru STM32F405 a driverů krokových motorů vyráběných firmou Trinamic. Pro komunikaci s nadřazenými systémy je implementován protokol CANOpen a sběrnice I\textsuperscript{2}C a USB. Elektronika byla navržena v software KiCAD and využívá čtyřvrstvého plošného spoje a moderních výrobních technologií. Co se týká software, byl vyvinut jak firmware pro mikrokontrolér, tak software pro ovládání kontroléru. Obě části software využívají programovacího jazyka Rust, který se zaměřuje na bezpečnost práce s pamětí, rychlost a zero-cost abstrakce. Sekundárním cílem této práce je ukázat, jak lze tento programovací jazyk s výhodou použít pro programování nízkoúrovňového embedded software. Firmware kontroléru implementuje nezávislé řízení pohybu obou os kontroléru a to jak v rychlostním, tak v pozičním režimu a zároveň implementuje bezpečnostní funkce pro případy selhání komunikace. Výsledný kontrolér by měl být použit v rámcí výzkumné skupiny Robotiky a Umělé Inteligence a studenty na Ústavu Automatizace FEKT VUT.
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