Vodenje sodelovalnega robota na osnovi mehatronske makete

diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo

Mitja Debeljak (Author), Rok Vrabič (Mentor)

Abstract

V sodobni industriji je vedno več sodelovalnih robotov, ki omogočajo neposredno delo s človekom, pri tem pa ne potrebujejo zaščitne kletke. Aplikacije sodelovalnih robotov zahtevajo vedno večjo fleksibilnost pri programiranju, v primerjavi z industrijskimi roboti. Izdelava programa navadno zahteva veliko znanja in izkušenj, prav tako pa tudi veliko časa. Vse bolj se uveljavljajo metode programiranja, pri katerih operater s svojo roko vodi robota v želeno lego. Po geometriji izbranega sodelovalnega robota Fanuc CR-7iA/L smo skonstruirali mehatronsko maketo. Dele mehatronske makete smo natisnili s 3D tiskalnikom in jih sestavili v celoto. V maketo smo nato za merjenje položaja vgradili potenciometre, tipke in indikacijsko LED diodo. Vse skupaj smo priključili na mikrokrmilnik Arduino UNO in zanj napisali program. Program omogoča shranjevanje točk in enostavno izdelavo programa za vodenje sodelovalnega robota. Mehatronsko maketo smo s sodelovalnim robotom povezali s pomočjo osebnega računalnika. Ko smo zagnali program, je sodelovalni robot pričel posnemati gibanje mehatronske makete. Mehatronska maketa nam omogoča hitro izdelovanje enostavnih programov, pri uporabi katerega ne potrebujemo veliko tehničnega znanja.

Keywords

diplomske naloge;industrijski robot;mikrokrmilnik;potenciometer;konstruiranje;vodenje;mehatronska maketa;elektronsko vezje;

Data

Language:	Slovenian
Year of publishing:	2021
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[M. Debeljak]
UDC:	007.52:005.591.6(043.2)
COBISS:	76289795
Views:	263
Downloads:	55
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Control of a collaborative robot based on a scaled mechatronic model
Secondary abstract:	The number of collaborative robots is increasing. They enable direct cooperation with human workers without the need of additional protection. Compared to industrial robots, collaborative robots require bigger programing flexibility. The performance of industrial robots is governed by corresponding program which can be created using different methods and usually requires a great deal of knowledge, experience and a lot of time. Programming method, that is becoming more and more popular is leading the robot towards desired position, where operator is using their own hand movements. In our study based on the geometry of the selected collaborative robot Fanuc CR-7iA/L we constructed a scaled mechatronic model. All parts of the mechatronic model were 3D printed. In order to measure the position of the robot, we installed potentiometers, buttons and an indication LED diode. The model was later connected to the microcontroller Arduino UNO and and corresponding program was created. The programe enables to save specific points and to manage the collaborative robot in a simple manner. We later connected the mechatronic model to the collaborative robot with the help of a PC. When we started the programme, the collaborative robot began to imitate the movement of the mechatronic model. The mechatronic model enables to create a simple programme, which does not require a lot of technical knowledge.
Secondary keywords:	thesis;industrial robot;microcontroller;potentiometer;construction;control;mechatronic model;electronic circuit;
Type (COBISS):	Bachelor thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za strojništvo
Pages:	XXII, 43, [1] str.
ID:	13289154