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Design of measurement robotized workcell
Tvardek, Michal ; Sláma, Josef (referee) ; Knoflíček, Radek (advisor)
This master's thesis focuses on the use of the Renishaw's Equator gauging system in cooperation with the industrial robot. The target is to design the robotized workcell which contains these two products. Robot acts as a manipulator for inserting and sorting out the workpieces into the "good" and "bad" pallets according to measured results from the Equator. Equator uses a parallel kinematics and probing system which is normally used on coordinate measuring machines. Therefore there is the introduction to the parallel and serial kinematic structures, to the problems of the coordinate measuring machines in the first part of this thesis. It was made a separation of the probing systems into a few basic categories, description of the typical representatives of these categories and of the other important accessories of the coordinate measuring machines, too. The second part of the thesis contains a description of the Equator gauging system, the industrial robot which I used and their accessories. In this part is mentioned a few examples of measurement automation in industry practice, too. The third part devotes to the design of the robotized workcell and contains all the important requirements for the realization.
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AC electric linear drive for paralell kinematics structures of robots
Nejedlý, Petr ; Pavlík, Jan (referee) ; Knoflíček, Radek (advisor)
Design of linear actuator for parallel kinematic structure is described in this master´s thesis. The parallel kinematic structure is described in the first part. Open kinematics structure and close kinematics structure are compared. Their benefits and disadvantages are also mentioned. Construction of some parallel robots is illustrated. Linear actuators of different company are described. Mechanical parameters and construction of linear actuator are compared. Design of linear actuator is described in practical part of master´s thesis. A few variation of linear actuator are introduced. Individual variants are evaluated by Multicriteria Decisional Analysis and a final conception is selected. Final conception of linear actuator is elaborated. Reasons for selection of every part of linear actuator are given and basic mechanical calculation design part is made. FEA analysis of the structural part of linear actuator is made. Design of linear actuator is evaluated in the final part.
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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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Hydraulic linear drive for paralell kinematics structures of robots
Petruška, Bohumil ; Kubela, Tomáš (referee) ; Knoflíček, Radek (advisor)
This thesis deals with new construction of hydraulic linear drive for paralell kinematics structures of robots. In the first section provides a historical development of robots with this structures. There are also described differences between each machine with this structures and compares them with machines with linear structures. In the second section is made a proposal of hydraulic actuator. Designed actuators are arranged into hexapod. There is also included a proposal of possible solutions to fixing hydraulic actuator to platform and base. This thesis include drawings of selected parts and drawing of a whole set of new designed hydraulic actuator. It is included a block diagram of the hydraulic circuit.
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Hydraulic linear drive for paralell kinematics structures of robots
Hrbáček, Jakub ; Holub, Michal (referee) ; Knoflíček, Radek (advisor)
This master’s thesis deals with the design of hydraulic linear drive for parallel kinematics structures of robots, which is not standardly used for these kind of robots. In the part of background research it deals with modern applications of these robots in profession and possible construction components, conventional or nonconventional ones. The master’s thesis further describes the procedure of construction the hydraulic drive. At first the linear hydromotor is designed and further the whole hydraulic circuit. The whole drive is processed in appropriate software program as a 3D model, from witch the assembly drawings is worked out.
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Design of measurement robotized workcell
Tvardek, Michal ; Sláma, Josef (referee) ; Knoflíček, Radek (advisor)
This master's thesis focuses on the use of the Renishaw's Equator gauging system in cooperation with the industrial robot. The target is to design the robotized workcell which contains these two products. Robot acts as a manipulator for inserting and sorting out the workpieces into the "good" and "bad" pallets according to measured results from the Equator. Equator uses a parallel kinematics and probing system which is normally used on coordinate measuring machines. Therefore there is the introduction to the parallel and serial kinematic structures, to the problems of the coordinate measuring machines in the first part of this thesis. It was made a separation of the probing systems into a few basic categories, description of the typical representatives of these categories and of the other important accessories of the coordinate measuring machines, too. The second part of the thesis contains a description of the Equator gauging system, the industrial robot which I used and their accessories. In this part is mentioned a few examples of measurement automation in industry practice, too. The third part devotes to the design of the robotized workcell and contains all the important requirements for the realization.
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Hydraulic linear drive for paralell kinematics structures of robots
Petruška, Bohumil ; Kubela, Tomáš (referee) ; Knoflíček, Radek (advisor)
This thesis deals with new construction of hydraulic linear drive for paralell kinematics structures of robots. In the first section provides a historical development of robots with this structures. There are also described differences between each machine with this structures and compares them with machines with linear structures. In the second section is made a proposal of hydraulic actuator. Designed actuators are arranged into hexapod. There is also included a proposal of possible solutions to fixing hydraulic actuator to platform and base. This thesis include drawings of selected parts and drawing of a whole set of new designed hydraulic actuator. It is included a block diagram of the hydraulic circuit.
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