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Design of universal rotary manipulator for positioning of weldments
Kračmar, Filip ; Kolíbal, Zdeněk (referee) ; Knoflíček, Radek (advisor)
The diploma thesis deals with the design of rotary manipulator for positioning weldments, which could be 5000 mm long and weight 500 kg. The beginning of the thesis presents the research of welding manipulators which could be founded on the market. Three variants of the positioner are proposed in the next section. The resulting variant is optimized using strength analysis in ANSYS software. Furthermore, two variants of drive, by hand drive or electric motor, are presented. The manipulator is interconnected in a single part using a designed frame constructure. Critical points of the manipulator are checked by strength calculation. The final part contains the risk analysis of the proposed manipulator.
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Bidirectional pneumatic stepper motor
Veselý, Václav ; Pavlík, Jan (referee) ; Kolíbal, Zdeněk (advisor)
The diploma thesis Bidirectional pneumatic stepper motor concentrates on a step shaft rotation in the presented scheme of a kinematic mechanism. The introductory research part of the diploma thesis lists various types of pneumatic components and the analysis of elements in pneumatic circuits is provided. The following section of the thesis concentrates on designing a new scheme of a pneumatic stepper and construction of a functional mock-up. The final part of the diploma thesis offers a summary and final evaluation of the design and offers subsequent alterations for its further usage.
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Optimization of Energy by Robot Motion
Smetanová, Anna ; Skařupa, Jiří (referee) ; Smrček, Juraj (referee) ; Karpíšek, Zdeněk (referee) ; Kolíbal, Zdeněk (advisor)
The doctoral thesis is describing the problematic of motion parameters influences on energy consumption during robot operation. The basic methods of robot programming are characterized and evaluated in the introductory part and with help of mathematical models the influence of specific parameters is explained. The experimental verification of mathematical models was performed in the laboratory of Institute of Production Machines, Systems and Robotics at Brno University of Technology. The measure results are arranged in tables from which final evaluation and recommendation for praxis follows.
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Design of dedicated manipulator for automatic tool change with the three cam generator duty cycle
Bláha, Pavel ; Pavlík, Jan (referee) ; Kolíbal, Zdeněk (advisor)
This thesis deals with the design of a single-purpose manipulator for automatic tool changing with a three-cams generator of the working cycle. At the beginning of the paper, general background information about tool trays and manipulators for the change of tools is briefly described. The scheme of the kinematic manipulator is proposed in this work as well. The thesis also includes the calculation of the shapes of the grooves in the cams. The result of this work is the design of the manipulator, including an animation of tool changing.
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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)
The thesis describes the problems of a complex system for analysis of road accidents, specifically the methodology for solving the collision between vehicle and motorcycle. There are statistics described motorcycle accidents, motorcycle safety features, the basic types of collision positions between vehicles and motorcycles, design methodology for solving with traffic accidents between vehicles and motorcycles. The work is performed a set of different measurements used to supplement and refine the input data for the analysis of road accidents involving motorcycles. The work contains data obtained from measurements.
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Analysis of driver’s conduct during solving of situations associated with pedestrians crossing the road
Maxera, Pavel ; Kolíbal, Zdeněk (referee) ; Rábek, Vlastimil (referee) ; Kledus, Robert (advisor)
The doctoral thesis analyses driver’s conduct while solving situations associated with crossing of pedestrians across the road in cases of various design of pedestrian crossings and at different conditions. The thesis deepens the knowledge of the human factor impact on the occurrence of a traffic accident involved vehicle and pedestrian and thesis also complements knowledge for the needs of the analysis of traffic accidents, especially in solving the pre collision phase and at assessment of possibilities for collision prevention by involved participants. The thesis deals with driver’s conduct, various models of the conduct as well as the thesis focuses on the visual perception, the process of information processing, the driver’s conduct and the reaction time. In terms of the solution suitable types of experiments were designed and implemented. Based on performed measurements a method of processing and evaluating data on drivers’ conduct was found as well as more significant data set was obtained for a detailed analysis of drivers' conduct in different driving situations. The assessed quantities of drivers' conduct were analysed with respect to the dangerousness of driving situations. For these purposes, the categories of the dangerousness of driving situations were defined (situations completely safe, with increased danger, dangerous and critical), into which the analysed driving situations were subsequently included. To enable the quantification of this classification of situations into the categories of the dangerousness, the coefficient of the dangerousness (so called K) was defined. From the detailed analysis of the obtained data, the limit values of this coefficient were determined, and these were subsequently verified using data from the solution of real traffic accidents. Concurrently the analysis verified the suitability of using this hazard coefficient in the analysis of traffic accidents, especially for a detailed assessment of the possibilities of collision prevention.
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The conception and realisation of experimental stand for co-operatice robots
Kocourek, Pavel ; Schlegel, Holger (referee) ; Kolíbal, Zdeněk (advisor)
Tato diplomová práce se zabývá vzorovým procesem dvou kooperujících robotů obsluhujících automatickou měřící stanici. Manipulace s měřenými kusy je zajišťována dvěma roboty KUKA KR6/2. Cílem této diplomové práce bylo navrhnout, zkonstruovat a uvést do provozu měřící stanici a příslušející pomocné zařízení. Za tímto účelem byly sepsány odpovídající programy sloužící k řízení robotů a měřící stanice. Čtenář bude seznámen s konstrukcí a uvedením pokusného pracoviště do provozu. Zároveň bude důkladně popsáno programování a řízení robotů. Závěr práce je věnován možnostem časové optimalizace procesu.
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