Dvoprstno pincetno robotsko prijemalo

magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo

Marko Klavžer (Author), Boris Jerman (Mentor)

Abstract

V sklopu magistrske naloge smo zasnovali dvoprstno pincetno robotsko prijemalo, s katerim je mogoče manipulirati s širokim naborom predmetov, ki se jih izvzema iz zaboja, v katerem se nahaja množica naključno orientiranih predmetov. Zaradi prekrivanja predmetov smo se osredotočili na problem prijema predmeta izven težišča, kjer obstaja velika verjetnost rotacije predmeta okoli točke prijema in posledično izpada predmeta iz prijemala. Z namenom preprečitve neželenega pojava smo razvili prijemalo z rotirajočimi paralelnimi prijemnimi ploskvami, ki omogočajo rotacijo brez izgube oprijema med predmetom in prsti prijemala. Skozi snovanje smo v prijemalo vgradili karseda veliko standardnih elementov, katerih ustreznost smo preverjali z analitičnimi preračuni. Preverjanje ustreznosti konstrukcije prstov smo izvedli s trdnostno analizo s pomočjo metode končnih elementov.

Keywords

magistrske naloge;strega;montaža;avtomatizacija;industrijski manipulatorji;roboti;robotska prijemala;

Data

Language:	Slovenian
Year of publishing:	2022
Typology:	2.09 - Master's Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[M. Klavžer]
UDC:	621.865.8(043.2)
COBISS:	125851907
Views:	370
Downloads:	92
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Two-finger tweezer-type robotic gripper
Secondary abstract:	In the scope of Master's thesis, we designed a two-finger tweezer-type robotic gripper, which can be used for manipulating a variety of objects. In our case, objects are randomly placed in a box. Due to overlapping, we focused on the problem of grasping the workpiece away from its centre of gravity, which can result in the rotation and the grasped object falling out of the gripper. In order to prevent this unwanted phenomenon, we developed a gripper with rotating flange plates which allow rotation without losing grip between the object and the gripper fingers. The gripper consists of as many standard parts as possible. With suitable analytical design procedures and methods, we picked standard elements that match the requirements of a gripper. Using the finite element method, we performed a structural analysis of the finger.
Secondary keywords:	master thesis;handling;assembly;industrial manipulators;automatization;robot grippers;robots;
Type (COBISS):	Master's thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. Ljubljana, Fak. za strojništvo
Pages:	XXII, [63] str.
ID:	16420303