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Robot vision with industrial robots Kuka
Selingerová, Simona ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
This diploma thesis deals with a practical application employing an industrial robot KUKA, a vision system – smart camera Siemens. The application is focused on synchronizing or robot movements with objects moving on a conveyor belt. The introductory and theoretical part of this thesis is concerned with various systems for machine vision currently available on the market. Practical part is then focused on the demonstration application: setting-up the robotic cell and description of all devices, robot and vision system programming.
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Design of a Robotic Cell for Spot Welding Application
Kaňa, Vojtěch ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
The aim of this thesis was to design a robotic cell for spot welding of seat reinforcement and the subsequent automatic transport of the part from the cell. Both construction plan and process simulation in Process Simulate should be performed there. It is therefore an application for the automotive industry. The cell consists of a device into which the operator places the parts and is placed on the designed turntable. The welding is performed by two Kuka robots and welding tongs attached to them. The thesis deals with the design of the structure and the choice of individual components, as well as their appropriate deployment in the cell. Along with the design of the cell, the simulation was processed in the software. The output of the thesis is a 3D model of the workplace, simulation of the whole process of welding and manipulation and evaluation of the cell cycle using the RCS module.
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Design of a vision system with Kuka robot
Rusnák, Jakub ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with applications of vision system with KUKA robot in field of identification and sorting bigger amount of different objects. Introductory and theoretical part of the thesis describes present situation on industrial vision systems market and their usage. Diploma thesis include practical application of object (coin) recognition with SICK IVC 2D vision system and their sorting by industrial robot KUKA KR 3. Application is also concerned with network communication between camera and robot via PLC, programming in KRL language and programm for object recognition in IVC Studio.
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Mechanical properties of large scale 3D printing parts
Sýkora, Jakub ; Krčma, Martin (referee) ; Křivohlavý, Petr (advisor)
This study focuses on the mechanical properties of polymer samples printed using Fused Deposition Modeling (FDM) on a KUKA KR8 R1620 robotic arm with layer height and orientation relative to the bed as parameters. The samples were tested for tensile strength. The shape of the specimens was designed to eliminate the stress concentrations generated by the manufacturing process. The maximum stress values were compared with each other and the results were evaluated. In the end, it was evaluated how faster it is to print a sample using a 2 mm nozzle than a 0.4 mm nozzle. The results showed that the ductile materials (PETG and CPE) have significantly less load carrying capacity when printed on the robotic arm. For fragile materials (PLA and NonOilen) the difference is smaller. A sample can be printed up to 20 times faster using a 2 mm nozzle at a layer height of 1.5 mm than on a conventional printer at a layer height of 0.2 mm. The results of this work are intended to serve as a benchmark for further investigation of large-scale 3D printing. They can give a basic understanding of the properties and behaviour of materials printed using large diameter nozzles.
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Design of a Robotic Cell for Spot Welding Application
Kaňa, Vojtěch ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
The aim of this thesis was to design a robotic cell for spot welding of seat reinforcement and the subsequent automatic transport of the part from the cell. Both construction plan and process simulation in Process Simulate should be performed there. It is therefore an application for the automotive industry. The cell consists of a device into which the operator places the parts and is placed on the designed turntable. The welding is performed by two Kuka robots and welding tongs attached to them. The thesis deals with the design of the structure and the choice of individual components, as well as their appropriate deployment in the cell. Along with the design of the cell, the simulation was processed in the software. The output of the thesis is a 3D model of the workplace, simulation of the whole process of welding and manipulation and evaluation of the cell cycle using the RCS module.
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Design of a vision system with Kuka robot
Rusnák, Jakub ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
Diploma thesis deals with applications of vision system with KUKA robot in field of identification and sorting bigger amount of different objects. Introductory and theoretical part of the thesis describes present situation on industrial vision systems market and their usage. Diploma thesis include practical application of object (coin) recognition with SICK IVC 2D vision system and their sorting by industrial robot KUKA KR 3. Application is also concerned with network communication between camera and robot via PLC, programming in KRL language and programm for object recognition in IVC Studio.
|
|
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Robot vision with industrial robots Kuka
Selingerová, Simona ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
This diploma thesis deals with a practical application employing an industrial robot KUKA, a vision system – smart camera Siemens. The application is focused on synchronizing or robot movements with objects moving on a conveyor belt. The introductory and theoretical part of this thesis is concerned with various systems for machine vision currently available on the market. Practical part is then focused on the demonstration application: setting-up the robotic cell and description of all devices, robot and vision system programming.
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