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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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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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