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Link robots
Vidlák, Marek ; Kubela, Tomáš (referee) ; Simeonov, Simeon (advisor)
Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematical and kinematic model. Then it is designed and described construction of robot. The last section is devoted to simulation of robot’s kinematics, description of simulation softwares and their use for required results.
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Finding kinematic quantities of a mechanism and a structural analysis of its members after blockage
Zvozil, Ondrej ; Vosynek, Petr (referee) ; Fuis, Vladimír (advisor)
Diplomová práca, ktorá vznikla v spolupráci so spoločnosťou AUFEER DESIGN (AFD), sa zaoberá analýzou konkrétneho stieračového mechanizmu automobilu. Najprv je uvedená stručná história stieračov. Stieracie sústavy sú potom rozdelené podľa ich usporiadania a spôsobu pohonu. V nasledujúcej kapitole je formulovaná problémová situácia, problém a systém podstatných veličín. Kinematické veličiny kľúčových bodov mechanizmu sú určené analytickým aj numerickým prístupom. Výpočtový model pre kinematickú analýzu je vyvinutý v Matlabe a SimMechanics. Ďalšia časť je venovaná vytváraniu konečno-prvkového modelu v programe ANSA. Všetky deformačne-napäťové analýzy sú vykonané v programe Abaqus. Prvá z nich je parametrická štúdia, ktorá odhaľuje kritické polohy mechanizmu z hľadiska tlakového namáhania určitých súčastí. Mechanizmus v kritických polohách je potom zaťažovaný so zablokovanými ramenami stieračov. Nakoniec sú urobené lineárne analýzy straty vzpernej stability súčastí, u ktorých môže nastať, nasledované nelineárnymi analýzami so zahrnutými imperfekciami.
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Testing platform with 3 dof
Spáčil, Tomáš ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This thesis deals with development and construction of parallel manipulator with three degrees of freedom whose assumption of usage is testing tanks for NH3. In this work we are going to investigate the design of the mechanism in Matlab Simulink. Design of the electronic is introduced and also the control program is developed. The result of the work will be a prototype of manipulator.
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Utilization of multi-body simulation tools in subject Dynamics
Lokšeninec, Ľuboš ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
The bachelor’s thesis is conducted in purpose of modernization the dynamics theory teaching methods by the multi-body simulation systems. Thesis acquaints student with accessible simulation systems and provides a manual how to compose virtual models of physic frameworks. Student is introduced to the basic options of current multi-body system by means of pre-processed examples focused on rolling, oscillation and inertia moment. Thesis refers to present teaching methods with models composed in Matlab/Simuling system with SimMechanics sublibrary.
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Thermoelectric Generator
Štetina, Jakub ; Ančík, Zdeněk (referee) ; Vlach, Radek (advisor)
This thesis describes measuring of thermoelectric modules and building of the device, which would serve as an emergency electric energy source for specific purpose on the basis of ther-moelectric effects. We use thermoelectric generators (TEG).
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Modelling, identification and control of rotary pendulum
Klusáček, Ondřej ; Ondrůšek, Čestmír (referee) ; Grepl, Robert (advisor)
The diploma thesis deals with control of rotary inverted pendulum - Furuta pendulum. Solution for power electronics, sensors and coupling with PC is described, identification of parameters and nonlinear simulation model in Matlab/Simulink and SimMechanics toolbox is presented. Second type Lagrange equation is used for determination of equations of motion. Controll system based on state-space model of mechanism and LQR algorithm for design of state-space controller is used and switching between swing-up cotroller a stabilizing state-space control is achieved according to actual angular position of pendulum's angle. Input integrator eliminating steady state error was used with success.
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Analyses of Mechanical Tasks in Multi-body System
Ondrejka, Adam ; Lošák, Petr (referee) ; Hadaš, Zdeněk (advisor)
The aim of the bachelor thesis is to create simulation models according to mechanical tasks with the usage of CAD system Invetor and simulation tool SimMechanics, which will be further utilized in tuition. The accuracy of simulation would be evaluated in comparison with classic solutions. Finally, the pros and cons of SimMechanics would be summarized.
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Link robots
Kolaja, Radim ; Veverka, Petr (referee) ; Simeonov, Simeon (advisor)
This thesis deals with articulated robots for special applications for confined spaces. Introduction work includes the distribution and development in the field of handling technology. It also deals with the handlers chain structure. Following the described types of articulated robot kinematic model was developed and subsequently implemented the 3D design in SolidWorks. The conclusion is drawn visualizations made-handling arm.
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