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Hydraulic linear drive for paralell kinematics structures of robots
Pavlica, Jiří ; Pavlík, Jan (referee) ; Knoflíček, Radek (advisor)
This thesis describes the design of linear units with hydraulic drive for the robot with parallel kinematic structure. The theoretical part deals with the historical development of parallel kinematic structures, its design proposals for individual structural elements and a comparison of parallel and serial kinematics. The main aim of the work is developing design of hydraulic drive, hydraulic circuit, creating a 3D model using Solid Edge software, and the development of design documentation for the designated parts.
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Pressure losses and heat output of the hydraulic blocks of a linear integrated hydraulic unit
Soukup, Lubomír ; Červinka, Martin (referee) ; Klas, Roman (advisor)
A common problem in the design of hydraulic systems is the pressure losses caused by movement of viscous liquid in individual elements of hydraulic circuits. These losses have negative effects on the overall efficiency of hydraulic systems and thus their overall operation. There is a change in temperature of working fluid and components (elements) of circuit due to the result of the mentioned losses. This master thesis is focused on the heat generation (output) in hydraulic cubes of a linear integrated hydraulic cubes (here in after LIHJ) which is the prototype of hydraulic lifting equipment. Losses, arising during the operation LIHJ in pipes and in hoses, can be determined numerically and experimentally. Most of hydrostatic transmitters and others hydraulic components are almost always supplied with the necessary documentation which contains all the necessary information such as experimental characteristics, etc. However problematic parts are the hydraulic blocks which are specific to their size and function. Of course, each manufacturer must prepare technical documentation including characteristics which are important for trouble-free operation of the hydraulic system. The main aim of this work is to determine pressure losses and the heat generation (output) in the hydraulics blocks by program which is used for creating geometry and computing using software like Ansys Fluent, which is based on the finite element method. If these calculations could be compared with experimental measurement technically, then heat generation (output) in both the cubes will be evaluated towards other hydraulic components and the whole system (device). The simulation results will be implemented in software which is used for calculation of heat generation in LIHJ at different operating modes and loads. Furthermore, these results will be the basis for the design of geometry of hydraulic blocks with low pressure losses which will reduce energy consumption of the device. At the end of this thesis, some advanced methods for the manufacturing of hydraulic blocks are briefly introduced, namely the method 3-D casting.
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Hydraulic linear drive for paralell kinematics structures of robots
Vintr, Pavel ; Holub, Michal (referee) ; Knoflíček, Radek (advisor)
This Master thesis deals with the design of linear unit with hydraulic actuator for the robot with parallel kinematic structure. One of the objectives is to get an overview of the differences related to characteristics of design and construction between serial and parallel kinematic structure (PKS) of the industrial robots, as a new type of technical objects in robotics. In addition the aim is to create an original structural design of linear unit, as the basic constructional assembly and operational node of robot with PKS, according to the specified input values, such as power, pressure, speed and stroke, important for the design of linear hydraulic actuator.
|
|
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Hydraulic linear drive for paralell kinematics structures of robots
Pavlica, Jiří ; Pavlík, Jan (referee) ; Knoflíček, Radek (advisor)
This thesis describes the design of linear units with hydraulic drive for the robot with parallel kinematic structure. The theoretical part deals with the historical development of parallel kinematic structures, its design proposals for individual structural elements and a comparison of parallel and serial kinematics. The main aim of the work is developing design of hydraulic drive, hydraulic circuit, creating a 3D model using Solid Edge software, and the development of design documentation for the designated parts.
|
|
|
Hydraulic linear drive for paralell kinematics structures of robots
Vintr, Pavel ; Holub, Michal (referee) ; Knoflíček, Radek (advisor)
This Master thesis deals with the design of linear unit with hydraulic actuator for the robot with parallel kinematic structure. One of the objectives is to get an overview of the differences related to characteristics of design and construction between serial and parallel kinematic structure (PKS) of the industrial robots, as a new type of technical objects in robotics. In addition the aim is to create an original structural design of linear unit, as the basic constructional assembly and operational node of robot with PKS, according to the specified input values, such as power, pressure, speed and stroke, important for the design of linear hydraulic actuator.
|
|
|
Pressure losses and heat output of the hydraulic blocks of a linear integrated hydraulic unit
Soukup, Lubomír ; Červinka, Martin (referee) ; Klas, Roman (advisor)
A common problem in the design of hydraulic systems is the pressure losses caused by movement of viscous liquid in individual elements of hydraulic circuits. These losses have negative effects on the overall efficiency of hydraulic systems and thus their overall operation. There is a change in temperature of working fluid and components (elements) of circuit due to the result of the mentioned losses. This master thesis is focused on the heat generation (output) in hydraulic cubes of a linear integrated hydraulic cubes (here in after LIHJ) which is the prototype of hydraulic lifting equipment. Losses, arising during the operation LIHJ in pipes and in hoses, can be determined numerically and experimentally. Most of hydrostatic transmitters and others hydraulic components are almost always supplied with the necessary documentation which contains all the necessary information such as experimental characteristics, etc. However problematic parts are the hydraulic blocks which are specific to their size and function. Of course, each manufacturer must prepare technical documentation including characteristics which are important for trouble-free operation of the hydraulic system. The main aim of this work is to determine pressure losses and the heat generation (output) in the hydraulics blocks by program which is used for creating geometry and computing using software like Ansys Fluent, which is based on the finite element method. If these calculations could be compared with experimental measurement technically, then heat generation (output) in both the cubes will be evaluated towards other hydraulic components and the whole system (device). The simulation results will be implemented in software which is used for calculation of heat generation in LIHJ at different operating modes and loads. Furthermore, these results will be the basis for the design of geometry of hydraulic blocks with low pressure losses which will reduce energy consumption of the device. At the end of this thesis, some advanced methods for the manufacturing of hydraulic blocks are briefly introduced, namely the method 3-D casting.
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