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Machine vision implementation for control of parallel mechanism
Zábrša, Tomáš ; Kovář, Jiří (referee) ; Andrš, Ondřej (advisor)
The topic of this bachelor thesis covers issues of parallel robotics. It is focused on challenges of one particular type of parallel robot – delta robot. In this thesis it is described history of parallel robotics, kinematical calculations and machine vision. In the last part of this thesis is description of practical programming of delta robot and palletisation task using machine vision. Parallel robots have, compared to serial robots, certain advantages, but also disadvantages. Parallel robots are more stable, lower mass and they have higher accelerations and can do more work cycles. Using machine vision they can be used for sorting tasks, for example to put product into crates or sorting of machine parts.
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Using virtual reality in design process
Hlavatý, Michal ; Novotný, Tomáš (referee) ; Augste, Jan (advisor)
Master thesis deals with the possibility of using virtual reality in the construction process and points to new possibilities for non-traditional controlling of devices. The aim of this thesis is to become familiar with equipment designed in ÚVSSR and technology using motion capturing. Subsequently, there is also aim to use the gained knowledge to design a software which uses virtual reality in the construction process of parallel kinematic structure delta type, which will have the option of touchless control and will analyze the progress of energy flow of devices.
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Desing of PKS type TRIPOD
Coufal, Jiří ; Knoflíček, Radek (referee) ; Holub, Michal (advisor)
The thesis acquaints the reader with issues of manipulators based on parallel kinematic structures. It includes also the description of the construction procedure of chosen mechanism. Introductory search part specifies selected terms relating to building elements and describes their requirements. Alternatives of construction and used types of manipulators are shown in the illustrative images with labels. Next chapters deal with projects of selected parallel mechanism and methodologies of constructions. These chapters describe the design of all devised construction nodes. The construction and testing of the produced prototype is properly documented, indicating the resulting knowledge.
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Industrial robots paralell kinematics structures
Pavlica, Jiří ; Zbožínek, Adam (referee) ; Knoflíček, Radek (advisor)
The bachelor thesis deals with the issue and the current state of industrial robots with the parallel cinematics. The first chapter is devoted to an introduction to the issue of parallel kinematic structures and the subchapters deal with definitions of the terms and describe the development of parallel mechanisms. The second chapter is focused on the comparison of serial and parallel kinematics structures. The third chapter deals with the analysis of the construction of parallel kinematics. In the last chapter are described examples of constructions and application of robots with parallel kinematic structure. At the end of the thesis is set down an expected future development of parallel kinematic structures.
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Industrial robots with paralell kinematics structures
Šabart, Adam ; Kočiš, Petr (referee) ; Knoflíček, Radek (advisor)
The Bachelor’s thesis is focusing on the problems and the state of the current knowledge in robots having parallel kinematic structure. For better understanding, first of all, the words used are defined, and this definition is followed by the description of the historical developments of parallel kinematics. The subsequent chapter comprises the analysis of structures and the division of parallel mechanisms. This is followed by the basic division of kinematic structures of robots and their comparison. In conclusion attention is paid to the parallel robots utilized in practice and their expected development.
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Simulation modeling of parallel mechanisms
Cintula, Ladislav ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
Parallel mechanisms are characterized by their kinematic structure presented a closed kinematic chain. The end effector of mechanism is then bound to a base of over one arm. This design provides an advantage especially at high stiffness of mechanism and related properties. The disadvantage of such a structure is then usually very limited working space. In terms of simulation modeling is the construction due to its complexity rather problematic. The aim of work is design comprehensive simulation model chosen parallel mechanism and its analysis in selected working modes. Expected to use Adams simulation environment, if necessary. Matlab - SimMechanics and Ansys.
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Bin picking of non-oriented components using a parallel manipulator
Novák, David ; Marada, Tomáš (referee) ; Štěpánek, Vojtěch (advisor)
This master's thesis deals with the design of sorting unoriented components using a parallel manipulator. In the literature review section, it describes machine vision methods and important aspects when selecting a suitable camera for machine vision, which will be used for robot navigation. This section also discusses robot programming methods and describes possible approaches to programming robot movement. The practical part includes the design of the fourth axis of a delta manipulator in the NX Siemens environment, which allows for the orientation of manipulated objects. The software section presents the design of PLC control in the TwinCAT3 program. In this environment, functionalities for inverse kinematics, trajectory planning, image processing, and HMI for robot operation are utilized. Furthermore, a functional model was created in the virtual NX MCD environment, which communicated with TwinCAT3 via an OPC server.
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Using virtual reality in design process
Hlavatý, Michal ; Novotný, Tomáš (referee) ; Augste, Jan (advisor)
Master thesis deals with the possibility of using virtual reality in the construction process and points to new possibilities for non-traditional controlling of devices. The aim of this thesis is to become familiar with equipment designed in ÚVSSR and technology using motion capturing. Subsequently, there is also aim to use the gained knowledge to design a software which uses virtual reality in the construction process of parallel kinematic structure delta type, which will have the option of touchless control and will analyze the progress of energy flow of devices.
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