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Ramena manipulátorů pro automatickou výměnu nástrojů
Vondráček, Adam ; Tůma, Zdeněk (referee) ; Blecha, Radim (advisor)
This Bachelor paper deals with constituent junctions forming an automated tool change. The first section depicts the conception of tool magazines and the most frequently used methods of tool change. The following section clarifies the term tool unit and the attachment and clamping thereof in the machining tool spindle. The conclusion of the paper is designated to tool changers, mechanisms carrying out their movement, the construction and powering thereof.
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Design of end effectors for a robotic cell
Hirsch, Radim ; Štěpánek, Vojtěch (referee) ; Tůma, Zdeněk (advisor)
This thesis is focused on the structural design of end effectors for the ABB IRB 4400/60 industrial robot within the robotic cell in the laboratory of the Institute of Production Machines, Systems and Robotics. The first part of this thesis is focused on detailed research in the field of manipulation end effectors and systems for automatic exchange of end effectors. The next chapters offer a system breakdown and an analysis of the effectors currently used. The following two chapters discuss the design variants of the new solution, which are evaluated using multicriteria analysis. The design chapter describes the implementation of the new automatic end effector exchange system and offers a description of the newly designed effectors, based on verification calculations, as well as robot load analysis for each effector. At the end, an economic evaluation, discussion and evaluation of the proposed structure and conclusion are carried out. This work includes 3D models of the end effectors, their stand, as well as drawing documentation, including a pneumatic connection diagram.
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Ramena manipulátorů pro automatickou výměnu nástrojů
Vondráček, Adam ; Tůma, Zdeněk (referee) ; Blecha, Radim (advisor)
This Bachelor paper deals with constituent junctions forming an automated tool change. The first section depicts the conception of tool magazines and the most frequently used methods of tool change. The following section clarifies the term tool unit and the attachment and clamping thereof in the machining tool spindle. The conclusion of the paper is designated to tool changers, mechanisms carrying out their movement, the construction and powering thereof.
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