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Design of a Universal Digital-Twin for the EDUset ONE Robotic Cell
Hrubý, Tomáš ; Hůlka, Tomáš (referee) ; Lacko, Branislav (advisor)
This thesis focuses on the creation of a digital twin for the EDUSet ONE robotic cell, which is part of the Intemac research centre. The theoretical part introduces the concept of Industry 4.0 and describes its sub-elements. The following part of the theory is dedicated to the digital twin, its history, definition and types. It also includes examples of applications in several different sectors of human activity. The next chapter explores the available visualization environments for creating robotic applications. The last theoretical part of the thesis focuses on the robotic cell and its components, which consist mainly of the UR10e collaborative robotic arm and a 5-axis CNC milling machine. The actual solution includes the creation of the twin, which consists of the modification of CAD models and development in Unity. Integral to the practical implementation of the digital twin is the design of the robotic cell scene, the implementation of a wide range of subroutines, a user-friendly interface and an OPC UA client solution for system integration with a Siemens programmable logic controller (PLC).
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Virtual commissioning of a robotic palletizing system
Novák, Tomáš ; Bražina, Jakub (referee) ; Vetiška, Jan (advisor)
Diploma thesis deals with a conceptual design and virtual commisioning of robotic palletizing system. The theoretical part of the diploma thesis deals in the first part of research with the current state of knowledge in the robotics implementation in the industry, definitions of virtual commisioning and softwares needed to make it happen. The second part is focused on the development and proceses of palletization. In the practical part is created a model exercise, described 3 designs of robotic cells, choice of the final design to virtual commision, components design, robot design and gripper design. The main part of the diploma thesis is focused on creating a simulation in software Process Simulate, design of control program and HMI in the interface of software TIA Portal and implementation of robotics programs to Robot Studio. The final result and the validation of virtual commisioning and single purpose machines was recorded and attached in the work attachment.
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Modeling of machinery in Matlab/Simulink and Simscape
Moravanský, Lukáš ; Poliščuk, Radek (referee) ; Lang, Stanislav (advisor)
The thesis focuses on the development of a digital twin of the axis of the mould cylinder of a flexographic printing machine for SOMA using MATLAB/Simscape software. Theoretical foundations and concentrated parameter methods were used to develop and validate the physical model, with the main focus on the accuracy of the match with the real system in terms of resonances and aniresonances. A graphical user interface (GUI) was developed to allow easy modification and testing of the model. The work demonstrates the benefits of linking MATLAB tools for developing physics models and provides a basis for future model modifications and extensions.
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Utilization of Digital Twins in Automotive
Horuta, Šimon ; Fojtášek, Jan (referee) ; Repka, Martin (advisor)
This bachelor thesis deals with the utilization of digital twins in automotive industry. In the introduction, the concept of a digital twin is defined and then Industry 4.0 technologies used by digital twins are described. Furthermore, several examples of their application in the automotive industry are given. In the practical part, a simulation of a braking maneuver in virtual environment is performed and the functionality of this model is verified by real driving tests. As a result of the practical part, the graphs from the simulation and the real driving are compared.
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Use of fluidics systems in robotic applications
Eim, Jakub ; Parák, Roman (referee) ; Matoušek, Radomil (advisor)
The master's thesis deals with the design, production and testing of fluidic elements used for positioning parts in a robotic cell. The aim is to replace vibratory tables and feeders used in pick and place applications with the proposed fluidic solution. The review focuses on currently used products for feeding parts, fluidic oscillating nozzles and air knives. The practical part focuses on the development of fluidics elements using CFD simulations. The design of the 3D model of the robotic station with the implemented fluidic solution was carried out in Solid Edge. The robotic cell was programmed by a digital twin in the Epson RC+ simulation environment. Epson CV2 machine vision was implemented for picking positioned parts with the Epson C8-A1401S manipulator. Finally, the designed fluidics elements were successfully validated on a real robotic cell. The work is concluded by comparing the obtained results with vibration tables.
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Modern approaches to maintenance in engineering practice
Vašíček, Martin ; Hájková, Alena (referee) ; Hammer, Miloš (advisor)
The bachelor thesis is focused on maintenance. The first part presents the current maintenance standard entitled "Maintenance-Maintenance Terminology" and the older standard with the same name, which was replaced by the current standard. The work describes the types of maintenance according to each of these standards and compares them with each other. In the second part, modern approaches to maintenance in engineering practice are presented. The third part is focused on one of these modern approaches, namely TPM. The fourth part is focused on the implementation of TMP in two companies.
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Dynamic simulations of linear displacement system of CNC milling machine
Gregor, Jiří ; Tůma, Jiří (referee) ; Klíč, Daniel (advisor)
This thesis deals with dynamic simulations of a linear feed system of a CNC milling machine in Adams View. Dynamic simulations enable better and faster decision making when designing new machines than prototyping. The aim of this work is to compare the torque waveforms on ball screws at working feed and at quick feed. The next task is to measure the forces acting on the load body. The values were obtained by simulation in Adams View and measurement on a CNC milling machine MCV Quick 754. The results were exported to Matlab. The resulting torque waveforms were compared, where they are relatively identical during working feed, with large differences during rapid feed.
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A vehicle digital twin creation from data acquired during driving tests
Polnický, Vít ; Štětina, Josef (referee) ; Ušiak, Michal (advisor)
The thesis deals with the modelling of the longitudinal dynamics of the vehicle based on the measured data during driving with a electric vehicle. In addition to the creation of the model in GT-SUITE software, the thesis deals with the processing of signals from the vehicle control units. The selected signals are used to generate the efficiency map, the torque speed characteristics of the electric motor and, last but not least, the characteristics of the vehicle battery. To determine the OCV and internal resistance of the battery, a battery model was built in MATLAB Simulink software, where the required quantities were estimated using Parameter Estimator. For simulation in GT-SUITE environment, speed profiles were processed from the measured data. Validation of the model was achieved by comparing the results with measured values.
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Využití Denavit Hartenbergovy transformace pro simulaci pohybu průmyslového robotu
Slezák, Miroslav ; Vetiška, Jan (referee) ; Hadaš, Zdeněk (advisor)
This thesis describes the concept of virtual twin and the use of Denavit Hartenberg transformation for simulation of a robots trajectory and movement. In the first part there is some information about what it is a digital twin, which kind of virtual twins exist and how to create a virtual twin. Also the description of the use of digital twin in robotics is included. The second part focuses on the design of virtual twin with Denavit Hartenberg's transformation for simulation of trajectory of an industrial robot. The aim of the thesis is a creation of virtual twin robot for monitoring trajectory using Denavit Hartenberg transformation.
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