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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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Construction of the Educational Model of a Balancing Platform
Vrabec, Jiří ; Adámek, Roman (referee) ; Dobossy, Barnabás (advisor)
This thesis is about designing laboratory model Ball on Plane. First part is dedicated to comparison of existing models, choosing suitable types of components based on requirements, designing, choosing dimensions, determining kinematics of assembly and following simulation for validation of functionality and the right selection of components. In second part the thesis deals with the description of individual components, their parameters, and their composition. In the last part, the thesis deals with the implementation of regulation on a real system and demonstration of its functionality. It also includes the creation of an instruction manual.
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Robotic Manipulator Exploiting RC Components and Servos
Liška, Jakub ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
Cieľom tejto diplomovej práce bolo vytvorenie vlatného robotického manipulátoru, s pou-\\žitím RC(diaľkovo ovládaných) komponentov a servomotorov. V rámci riešenia bolo potre-\\bné robotický manipulátor vybaviť senzorikou, ktorá umožnuje detekciu kolízii s okolím a zabezpečuje tak bezpečnosť obsluhy v pracovnom priestore manipulátoru. Robotický manipilátor je taktiež vybavený absolútnimi enkódermi pre snímanie polohy jednotlivých kĺbov, akcelerometrom a senzormi pre meranie záťaží pôsobiacich na jednotlivé kĺby. O pohyb ramena sa starajú štandardné krokové motory. Samotné telo robotického manipulátoru bolo navrhnuté s ohľadom na jednotlivé komponenty a je možné ho vyrobiť pomocou 3D tlače. Súčastou riešenia je aj užívateľské rozhranie, pomocou ktorého je možné robotické rameno ovládať.
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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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Springing and Damping of Bikes
Borovička, Jan ; Hejtmánek, Petr (referee) ; Blaťák, Ondřej (advisor)
This thesis focuses on the creation of a computational model of a full-suspension bicycle, with the model developed using the MSC Adams View software. The literature review section describes damping units and various types of rear linkages, which are crucial for the functioning of suspension systems in bicycles. The practical part of the thesis details the structure of the model and the sensitivity analysis, examining the impact of different parameters on the model's behavior. To validate the results of the computational model, physical measurements were conducted to verify its accuracy and correctness. The thesis concludes with a proprietary design of a full-suspension bicycle, based on the insights and analyses carried out during the development and testing of the model.
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Inovace PPK GNSS senzoru Titan v posuzování zemětřesné kinematiky
Šugar, Danijel ; Ukas, Mladen
Within the sotware package Trimble Business Center ver. 5.90 (May 2023) was released a novel PPK GNSS processor named Titan. It utilizes all available GNSS constellations bringing improvement over the previous processor. CROPOS as the national permanent GNSS network of Croatia was modernized in summer of 2019 and since than it provides observations of all available GNSS constellations, namely, the GPS, GLONASS, Galielo and BeiDou. On March 22nd 2020, the wider area of Zagreb was hit by the M5.4 earthquake. The closest GNSS station to the epicenter (approx. 9 km) was the station ZAGR in Zagreb downtown and as such it was subject to earthquake shaking. Although the kinematic effects of that earthquake have already been assessed and examined, with this approach and novel PPK GNSS processor we are attempting to provide new insights into the earthquake kinematics involving observations from several CROPOS's GNSS stations in wider area around Zagreb.
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Návrh vozidla Baja SAE
Hajdušek, Zdeněk ; Hejtmánek, Petr (referee) ; Blaťák, Ondřej (advisor)
This master’s thesis describes the design of the Baja SAE vehicle according to the applicable rules. In the beginning is the work focused on search competing vehicles and subsequently on design the first Baja SAE vehicle in the Czech republic. This thesis is systematically divided into chapters according process to the vehicle design. The main part of a master's thesis is design of axle kinematics in software Adams and frame design. The model was designed in Catia V5. The frame was analysed of torsional stiffness and stress in software ANSYS.
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Mechanical manipulator
Kopecký, Vojtěch ; Winkler, Tomáš (referee) ; Malášek, Jiří (advisor)
The aim of this thesis is to design a mechanical manipulator. Work includes variants kinematics stroke belt conveyor, belt functional calculations belt and roller conveyor and risk analysis (the basis for the Declaration of Conformity) and FMEA analysis.
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Testing platform with 3 dof
Spáčil, Tomáš ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This thesis deals with development and construction of parallel manipulator with three degrees of freedom whose assumption of usage is testing tanks for NH3. In this work we are going to investigate the design of the mechanism in Matlab Simulink. Design of the electronic is introduced and also the control program is developed. The result of the work will be a prototype of manipulator.
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