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Design of an industrial robot with six degrees of freedom
Štefek, Ondřej ; Štěpánek, Vojtěch (referee) ; Knoflíček, Radek (advisor)
The diploma thesis deals with the design, production and construction of robots with six degrees of freedom and a serial kinematic structure. In the beginning of the thesis, the individual types of robots, used gearboxes, energy media are described, and the principle of direct and inverse robot kinematics is outlined here. In the next chapters, the system approach of the robot, the selection of the optimal variant of creation, and then the kinematics and dynamics of the robot, which further follows on from the principle of the creation of castings, the design nodes of the robot and its electrical engineering and the programming of the control system, are analyzed. For the pinions and the shaft of the fifth axis, a safety analysis is carried out with respect to the limit state of elasticity. This robot design is then financially compared with a commercially available industrial robot. For the robot, among other appendices, drawing documentation, an electrical wiring diagram and a safety analysis of the robotic workplace have been prepared. The robot and the related robotic workplace are physically built in the workshops of the Institute of Production Machines, Systems and Robotics in Brno.
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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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Robotic 3D printing simulation in SW PowerMill
Melich, Michal ; Vetiška, Jan (referee) ; Szabari, Mikuláš (advisor)
This thesis deals with the issue of simulating metal 3D printing using the WAAM technology with the use of an industrial robot. At the beginning of the thesis, elements and technologies currently implemented in robotic welding workplaces are introduced. The following section describes the creation of a simulation model of the robotic welding workplace in Powermill software and subsequent toolpath generation based on the selected part for manufacturing. The final part of the thesis is dedicated to the simulation of the created paths and subsequent analysis of the simulation results.
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Design of end effectors for forgings handling in an automated line
Pazour, Jiří ; Pavlík, Jan (referee) ; Tůma, Zdeněk (advisor)
The thesis deals with the design of four end effectors for forgings handling in an automated forging line. After a systematic analysis and determination of important variables, three conceptual variants of effectors were proposed, from which the best one was selected by means of multicriteria analysis. The parallel gripper variant was selected as the best one, for which the jaw shapes were designed and the required gripping force was calculated. According to the required stroke per jaw and force, the parallel gripper PGN-plus-P 300-1-V was selected, for which sensors, fittings, hoses, guards and valves were chosen. Furthermore, the manufactured parts, e.g. guards and flanges, were designed. The final design was verified by calculations for the maximum load of the gripper and the industrial robot. Last but not least, the total purchase price of the four effectors was estimated at CZK 620,000. This amount did not include the costs of assembly and the profit on sale.
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Design of end effector for handling with glass stopper
Hrnko, Lukáš ; Tůma, Jiří (referee) ; Synek, Miloš (advisor)
The diploma thesis deals with the structural design of the end effector for handling with the glass stopper of the hydrogen reactor of high temperature semiconductor diffusion furnace. The work includes the summary of information about semiconductor diffusion furnace, the choice of the appropriate industrial robot, the design of the end effector structural solution, the design of its supporting structure, the power and strength calculation, the design of the end effector control and economic evaluation of its production. The 3D model together with 2D production documentation which contains the assembly drawing of the individual parts of end effector was created on the basis of the end effector design.
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Synchronization of the robot motion with a moving conveyor belt
Nagy, Marek ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis is focused on the solution of synchronization of the robot motion with a moving conveyor belt. It informs about basic principles and possibilities of using similar applications. It describes individual elements used in the application, their importance and function. It provides an overview of proposed program codes for the programmable logic controller, the smart camera and the robot. The result is the creation of a functional illustrative application with KUKA robot.
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Robotic manipulation with Laser Welded Common Rail during the laser welding process
Bužga, Petr ; Šubrt, Kamil (referee) ; Knoflíček, Radek (advisor)
This master’s thesis deals with a description of Laser Welded Common Rail, which is produced by the company Bosch Diesel, s. r. o. in Jihlava. The theoretical part is focused primarily on a proposal for an industrial robot which would be manipulated with Common Rail during the laser welding process. The practical section is concerned with changes in the current paths of the robot to reduce production times, and to avoid using the same parts of the robot for the whole duration it is being manipulated with the Common Rail. At the end of this master's thesis is a techno-economic evaluation of previous alternatives, and it determines the appropriate option for robotic manipulation with the Common Rail during the laser welding process.
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Design of a Robotic End Effector
Hesina, Ondřej ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
This bachelor’s thesis analyses the possibility of grasping of the object by an industrial robot KUKA KR 16. Gripping object is a plate-shaped cast made from aluminium alloy with inner hole. After analysing the options is selected the most suitable option, designed end effector for bin-picking method and use already have been used grippers in practice.
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Stiffness of Industrial Robot Arm
Vogel, Jan ; Jurčišin,, Miroslav (referee) ; Knoflíček, Radek (advisor)
Stiffness analysis of an arm of an industrial robot with linear kinematics during a drilling operation. For solving this problem are used optical scanners. Finding the optimal cutting force for drilling by criterions: minimal deformation of robots arms and, at the same time, the emerging vibration from the cutting process is also minimal.
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Digital commissioning of robotic machine tool operator
Tecl, Michal ; Szabari, Mikuláš (referee) ; Vetiška, Jan (advisor)
The diploma thesis deals with the issue of digital commissioning of robotic operation of CNC machine tools. In the research part, individual types of industrial robots are analysed, including their advantages and disadvantages for the given application. Furthermore, several software used for digital commissioning are described and the possibilities of communication between machine tools and robots are described. In the practical part, a model task of operating two CNC machines is created. A suitable robot, robot tools, part magazines are selected, and a 3D model of the entire workplace is processed. In the final part, both a program for the robot and a program for the PLC controlling the entire workplace will be created.
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