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Virtual commissioning of the robotic clock
Dvořák, Jan ; Tůma, Zdeněk (referee) ; Štěpánek, Vojtěch (advisor)
Anna Barcuchová The aim of this thesis is virtual commissioning of a digital twin of a manipulator working as a robotic clock. The thesis contains a research of PLC control systems with a focus on motion control, conceptual design of three versions of the solution of the task, flowcharts of the control algorithm and description of the creation of the digital twin in NX Mechatronics Concept Designer. For the final version of the solution, calculations were made for determining the maximum angular acceleration of the individual robotic arms. Included in the thesis is also a control program for TwinCAT 3.
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Design of a small low-cost robot AI.SCARA
Janoušek, Tomáš ; Parák, Roman (referee) ; Matoušek, Radomil (advisor)
The aim of this bachelor thesis is to design and build a low-cost robot based on the industrial concept SCARA, which meets the requirements in terms of rigidity and repeatability for application in a wide range of manipulation tasks primarily implemented in a university environment. The thesis includes not only the unique mechanical design, but also design and implementation of the electrical circuitry, control system, and design of a user-friendly human-machine interface for basic control, diagnosis and calibration of the robotic structure. The theoretical part of the thesis focuses on a research of existing robotic structures, SCARA systems available on the market and end-effectors for manipulation operations.
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SCARA control system
Cviček, Pavel ; Bradáč, Zdeněk (referee) ; Benešl, Tomáš (advisor)
This thesis focuses on the possibility of using a SCARA robot with an alternative control system from Beckhoff for 3D printing. The implemented functionalities will be described and the solution will be properly documented. Furthermore, currently occurring problems will be addressed and solutions will be proposed for them. For the proposed application, possible solutions will be described including a detailed design and control program for the implementation of the functionality. A tutorial will be included to guide the user through setting up the slicer and controlling the visualization.
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Online control of SCARA robotic manipulator
Pařík, David ; Jelínek, Aleš (referee) ; Chromý, Adam (advisor)
Bachelor’s thesis deals with Epson SCARA robot. Theoretical part of this project descri- bes parts and functions of manipulator H554BN and its contorller SRC 310. There is also included chapter about the SPEL III robot programming language. Practical part is about putting the robot into operation. It’s focused on the creation of magnetic grip and C# class for controlling robot via PC. The final aim is to demonstrate manipulators abilities in some interesting task.
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SCARA control system
Bittner, Jakub ; Burian, František (referee) ; Benešl, Tomáš (advisor)
This thesis shows the process of restoring a SCARA type robot, which has had its controller destroyed. The signal cables as well as the power ones were rewired so that it would be able to create new control system for robot arm. New control system is created using devices from Beckhoff company. For that identification of motors is required. After that PC control is programmend to control every single axis of manipulator, with this program vizualizations of controll elements are created. In the end linear interpolation of movement between points is implemented.
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Lab Automation with SCARA Robot
Machala, Jan ; Lang, Stanislav (referee) ; Matoušek, Radomil (advisor)
The aim of this thesis is to design and program a robotic cell for processing Covid-19 laboratory samples. To prevent the leakage of hazardous substances into the environment, the entire robotic cell is restricted to the space of a laminar box. The Epson LS3-B SCARA robot was chosen for handling the tubes. The robotic cell was designed using a digital twin in the simulation environment of Epson RC+ software. The digital twin facilitated the prototyping of the robot end effector and helped to detect any collisions that may have occurred in the confined space. After successful design using the digital twin, this robot cell was assembled and tested in a real-world environment.
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Design and implementation of software for transportation entities of the Industry 4.0 testbed.
Sýkora, Tomáš ; Lázna, Tomáš (referee) ; Kaczmarczyk, Václav (advisor)
This diploma thesis deals with construction and software of transport entities for testbed Industry 4.0. The aim of the thesis is to create a transport network for moving a glass with a drink between individual cells on a production table. A four-axis Epson SCARA manipulator is used to transport the glass and a conveyor with carriages is designed to serving the finished drinks. The first part deals with the description of used components and their electrical connections. The second part describes the program solution of robotic manipulator and programmable logic controller. The final part is devoted to the description of problems arising during implementation.
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Control of the SCARA robot using the Beckhoff control system
Madzia, Adam ; Jirgl, Miroslav (referee) ; Benešl, Tomáš (advisor)
This thesis deals with control of the SCARA manipulator. In the theoretical part of the thesis there are explained robotic systems. The construction of a robot is described in terms of kinematic pairs and structures. Next chapter is about the manipulation robot Epson H554BN and Beckhoff control system with used equipment. In the practical part there is a description about the realization of the manipulator connection. Basic functions for controlling manipulator´s drives and functions for kinematic transformation are described at the end of the thesis.
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The multiaxis manipulator
Majnuš, Martin ; Benešl, Tomáš (referee) ; Burian, František (advisor)
The thesis deals with the calculation of kinematics of the multi-axis manipulator type RLRL - SCARA robot, calculation of static forces acting on stepper motors and calculation of theoretical adhesion force required for the end effector. The suction cup diameter is also determined from the magnitude of the holding force. It also deals with the modification of the driver used for the Raspberry pico 2040 microcontroller. It also includes the design of the circuit board for switching the inductive load along with the design and subsequent physical implementation of the manipulator including the pneumatic and electronic parts. The last part of the bachelor thesis briefly describes the program for controlling the manipulator through the terminal.
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