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Additive manufacturing of spatial trusses from polymeric materials
Křivohlavý, Petr ; Němeček, Stanislav (referee) ; Škaroupka, David (advisor)
This thesis is focused on creating polymer lattice struts without any necessary support in full length using robotic 3D printing. The aim of the thesis is to find suitable process parameters and printing strategies with respect to the accuracy of the polymer struts. A statistical model of effects of individual process parameters has been produced to achieve stated objectives. The model enables finding optimal process parameters. The printing strategies for thus established process parameters are tested to increase the accuracy of the finished print and the quality of the bonds between individual struts. The accuracy assessment is executed using optical 3D metrology. The maximum deviation from the nominal shape 0.54mm has been accomplished using discovered process parameters and printing strategies.
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System of large-scale 3D printing of products from bar structures
Vašátko, Marek ; Němeček, Stanislav (referee) ; Škaroupka, David (advisor)
This thesis deals with the design of a system for the production of lattice spatial structures from polymer materials printed by a robotic arm. The aim of the thesis is to design a suitable manufacturing system in general and to experimentally verify the production of products on the current form of the system. Using compression tests to determine the load carrying capacity of the fabricated lattice structures and compare it with a computational model of the ideal geometry. In general, the parts of the manufacturing system were designed and experimental measurements of compression tests on fabricated specimen structures were carried out. The first results of compression tests of such fabricated structures for two cell topologies were obtained. The accuracy between the experiments and the computational model is comparable to the results in the current literature. Better results were obtained in the areas of repeatability of the obtained load values. The system is a combination of HW and SW solutions providing 3D printing of large-scale lattice structures for large volume parts and represents an incremental improvement of partial properties.
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Robot vision with industrial robots Kuka
Krutílek, Jan ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with a robot vision and its application to the problem of manipulation of coincidentally placed objects. There is mentioned an overview of current principles of the most frequently used vision systems on the market. With regard to the required task to be solved, there are mentioned various possibilities of using basic softsensors during the recognition of different objects. The objective of this Diploma thesis is also programming and realization of a demonstration application applying knowledge of PLC programming, knowledge of expert programming KRL language (for KUKA robots), knowledge of designing scripts for smart camera in Spectation software and knowledge of network communication among all devices used in this case.
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Design of a vision system with Kuka robot
Rusnák, Jakub ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with applications of vision system with KUKA robot in field of identification and sorting bigger amount of different objects. Introductory and theoretical part of the thesis describes present situation on industrial vision systems market and their usage. Diploma thesis include practical application of object (coin) recognition with SICK IVC 2D vision system and their sorting by industrial robot KUKA KR 3. Application is also concerned with network communication between camera and robot via PLC, programming in KRL language and programm for object recognition in IVC Studio.
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Mechanical properties of large scale 3D printing parts
Sýkora, Jakub ; Krčma, Martin (referee) ; Křivohlavý, Petr (advisor)
This study focuses on the mechanical properties of polymer samples printed using Fused Deposition Modeling (FDM) on a KUKA KR8 R1620 robotic arm with layer height and orientation relative to the bed as parameters. The samples were tested for tensile strength. The shape of the specimens was designed to eliminate the stress concentrations generated by the manufacturing process. The maximum stress values were compared with each other and the results were evaluated. In the end, it was evaluated how faster it is to print a sample using a 2 mm nozzle than a 0.4 mm nozzle. The results showed that the ductile materials (PETG and CPE) have significantly less load carrying capacity when printed on the robotic arm. For fragile materials (PLA and NonOilen) the difference is smaller. A sample can be printed up to 20 times faster using a 2 mm nozzle at a layer height of 1.5 mm than on a conventional printer at a layer height of 0.2 mm. The results of this work are intended to serve as a benchmark for further investigation of large-scale 3D printing. They can give a basic understanding of the properties and behaviour of materials printed using large diameter nozzles.
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System of large-scale 3D printing of products from bar structures
Vašátko, Marek ; Němeček, Stanislav (referee) ; Škaroupka, David (advisor)
This thesis deals with the design of a system for the production of lattice spatial structures from polymer materials printed by a robotic arm. The aim of the thesis is to design a suitable manufacturing system in general and to experimentally verify the production of products on the current form of the system. Using compression tests to determine the load carrying capacity of the fabricated lattice structures and compare it with a computational model of the ideal geometry. In general, the parts of the manufacturing system were designed and experimental measurements of compression tests on fabricated specimen structures were carried out. The first results of compression tests of such fabricated structures for two cell topologies were obtained. The accuracy between the experiments and the computational model is comparable to the results in the current literature. Better results were obtained in the areas of repeatability of the obtained load values. The system is a combination of HW and SW solutions providing 3D printing of large-scale lattice structures for large volume parts and represents an incremental improvement of partial properties.
|
|
|
Additive manufacturing of spatial trusses from polymeric materials
Křivohlavý, Petr ; Němeček, Stanislav (referee) ; Škaroupka, David (advisor)
This thesis is focused on creating polymer lattice struts without any necessary support in full length using robotic 3D printing. The aim of the thesis is to find suitable process parameters and printing strategies with respect to the accuracy of the polymer struts. A statistical model of effects of individual process parameters has been produced to achieve stated objectives. The model enables finding optimal process parameters. The printing strategies for thus established process parameters are tested to increase the accuracy of the finished print and the quality of the bonds between individual struts. The accuracy assessment is executed using optical 3D metrology. The maximum deviation from the nominal shape 0.54mm has been accomplished using discovered process parameters and printing strategies.
|
|
|
Design of a vision system with Kuka robot
Rusnák, Jakub ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with applications of vision system with KUKA robot in field of identification and sorting bigger amount of different objects. Introductory and theoretical part of the thesis describes present situation on industrial vision systems market and their usage. Diploma thesis include practical application of object (coin) recognition with SICK IVC 2D vision system and their sorting by industrial robot KUKA KR 3. Application is also concerned with network communication between camera and robot via PLC, programming in KRL language and programm for object recognition in IVC Studio.
|
|
|
Robot vision with industrial robots Kuka
Krutílek, Jan ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with a robot vision and its application to the problem of manipulation of coincidentally placed objects. There is mentioned an overview of current principles of the most frequently used vision systems on the market. With regard to the required task to be solved, there are mentioned various possibilities of using basic softsensors during the recognition of different objects. The objective of this Diploma thesis is also programming and realization of a demonstration application applying knowledge of PLC programming, knowledge of expert programming KRL language (for KUKA robots), knowledge of designing scripts for smart camera in Spectation software and knowledge of network communication among all devices used in this case.
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