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Proposal of the school robot
Hlaváček, Rudolf ; Knoflíček, Radek (referee) ; Kolíbal, Zdeněk (advisor)
This thesis deals with the design of a low-cost robot used for educational purposes at robotic group Robotárna and at the secondary technical school SPŠ and VOŠ Brno, Sokolská, příspěvková organizace. The main intent of the robot is in teaching students programming. The research part deals with collaborational robots phenomenon and their practical usage in present production plants. The thesis covers the mechanical design of the robot, calculations of the required torques for each joints, design of the robot gripper and also a theoretical solution to robot control.
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Determination of duration that driver needs to assess the situation behind the vehicle in course of turning or overtaking manoeuvres.
Belák, Michal ; Rábek,, Vlastimil (referee) ; Kolíbal, Zdeněk (referee) ; Semela, Marek (advisor)
The dissertation thesis deals mainly with determining of the duration that driver needs to assess the situation behind his vehicle at manoeuvers of turning and overtaking, based on the measurements made in real road traffic. These are common and frequent driving manoeuvers, which the driver performs while driving the vehicle in regular road traffic. For their safe execution the driver needs to have sufficient amount of information about the situation around the vehicle and especially behind the vehicle. This information can driver usually gain from devices for indirect vision, most often rear view mirrors. The time thus defined, suitable e.g for the needs of forensic engineering applications for the analysis of road accidents, has not been studied in detail yet. For the purpose of its determination, therefore, an extensive analysis of the current state of problematics related to the indirect vision from the vehicle was carried out. There were formulated influences on the time duration and with this related characteristics of humans as a part of the driver-vehicle-environment system in the thesis. The characteristics of human perception were investigated and the problematics of reaction time was discussed. Existing research focused on the duration of rear view mirrors glances was analyzed and possible methods of its measurement in detail were presented by author. Based on this, an experiment was designed and realized, the time necessary for rear view mirror glances was defined by the author. The results enable to quantify the time that the driver needs for assessing the situation behind the vehicle in connection of turning, overtaking and other driving manoeuvers when the driver needs to change the driving direction. The conclusions showed that the time needed to evaluate the situation behind the vehicle by means of the rear-view mirrors does not normally exceed duration 1 second.
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Problematic of Fast Automatic Tool Change by Working Machinery
Pavlík, Jan ; Marek, Jiří (referee) ; Velíšek,, Karol (referee) ; Demeč, Peter (referee) ; Kolíbal, Zdeněk (advisor)
This dissertation thesis is focused on the problem of the Automatic Tool Change for milling centers, which is recently shown as a very current topic. The content of this work is to conduct a comprehensive research of various types of ATC depending on the type of machine, as well as research of the current tool interface relating closely with these problems. There was made a comprehensive analysis on the basis of data obtained by comprehensive research, from which both the main factors affecting this topic and the area dealed and developed by this work resulted. The most problematic area of machinery used nowdays for the Atomatic Tool Change was detected as manipulator provided the exchange between spindle and tool storage. Kinematic structure and design of individual elements affects very significantly the dynamics of the whole process of exchange of tools. Therefore, the work is focused on problematic of the manipulator. The main results of this thesis are constructional design of several types of manipulators, which were partly realized within the project 1.2.4 of Brno department of RCMT in the form of the testing stands. There was developed simulation models for selected types of manipulators which were verificated by measuring on the real stand. On the basis of abovementioned problem there was identified another key issue related not only to the exchange process but also with complex problem of service life of spindle. It is a grab force in the process of picking tools. The work outlines the possibilities for further research of these forces on the service file of spindle (especially on service life of bering groups of spindle).
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Optimization of the FE model by experimental modal analysis.
Hermsdorf, Nathanael ; Kolíbal, Zdeněk (referee) ; Blecha, Petr (advisor)
Znalosti o dynamických vlastnostech jsou základní předpoklady pro bezpečný provoz moderních výrobních strojů. Získání numerických metod ke zprostředkování dynamických vlastností stoupají na významu. Výpočet komplexních struktur je přesto možný pouze s nedostačující přesností. Pro výpočet již vznikajících mechanických systémů nabízí strukturní optimalizace možné zlepšení analytického přístupu. V rámci předložené práci je jedna taková strukturní optimalizace provedena na příkladu konceptu stroje s hybridní kinematikou “Scherenkinematik“. Přitom jsou nejdříve vyhodnoceny výsledky experimentální modální analýzy, zjištění modálních parametrů a odvození možné modifikace struktury. V druhé části následuje sestavení náhradního FE-modelu stroje v programu ANSYS Mechanical. Optimalizace struktury je provedena následně pomocí spojení program°u ANSYS a FEMtools. Z toho byly sestaveny dva optimalizační přístupy, které byly dále zpracovány. Ukázalo se, že jak s tak také bez spojitého omezení prostoru hledaných pro párování tvar kmitu, nebylo dosaženo žádné zlepšení korelace analytického a experimentálního modelu. Z výsledků optimalizace lze usoudit, že průběh a výsledky optimalizace jsou závislé od kvality výchozího modelu, vybraného přístupu optimalizace tak jako využité metody k přizpůsobení parametrů. Přitom je program FEMtools jen podmíněně určen pro strukturní analýzu silně spojených mechanických struktur a to pro nasazenou citlivosti analýzu.
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The two-coordinate numerical controlled table for milling center with hydraulic clamp
Nešpor, Vít ; Pavlík, Jan (referee) ; Kolíbal, Zdeněk (advisor)
This thesis deals with theoretical design of NC rotary tilting table for Kovosvit MAS milling machine MCV 754 - QUICK. In the beginning of this paper is made a research with focus to rotary tilting tables, paletizing technologies and rotary suppliers of energy. The main part concerns with loading analysis of rotary tilting table, proposal of motion drives, bearings and the frame of desired machine. For motion drive of each axis is chosen torque motor. Constructional solution of pressed air supply to the middle boring of face plate is realized by a rotary union. The next point of solution is arrangement of moving supply electrical and pneumatic energy to the frame of tilting axis. The last part is concerned to proposal of realizing of changing tchnological pallets by the Zero-point systems. In the end the economical analysis is made.
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Comprehensive System for Road Accident Analysis - Collision Between Vehicle and Motorcycle
Slepánek, Petr ; Kolíbal, Zdeněk (referee) ; Drahotský, Ivo (referee) ; Kropáč, František (referee) ; Bradáč, Albert (advisor)
This dissertation describes the issue of a complex system for analyzing the collision of a motorcycle with another vehicle and suggests a suitable methodology for solving this type of traffic accident. It summarizes the current knowledge in the field of motorcycle accidents withother vehicles, including their statistics and categorization. The author statistically evaluates accidents by their causes and proposes a methodology for solving individual types of motorcycle collisions with vehicles. To supplement and refine the input data for the analysis of road accidents involving motorcycles, a set of author’s own measurements made on different types of motorcycles is included. The thesis contains measurements of their acceleration, deceleration and avoidance maneuvers. Other actual contributions of the thesis are represented also by flowcharts, offering a comprehensive approach to solving individual types of colissions of motorcycles with other vehicles.
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Description of different sorts of HARMONIC-DRIVE gear box
Brus, Jan ; Pavlík, Jan (referee) ; Pavlík, Jan (referee) ; Kolíbal, Zdeněk (advisor)
The Bachelor’s thesis contains a technical search describing different sorts of harmonic drive gear-boxes. The search is engaged in the description of characteristics and possibilities of the application of particular sorts of harmonic drive gear-boxes, including operating characteristics (graphs), analysis of individual parts and the principle of operation. Further a comparison with other types of commonly used gear-boxes (cycloidal, classical gear-boxes) is presented. In the end the advantages and disadvantages focused on the usage and characteristics are summarized.
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