magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Urban Repanšek (Author), Marko Šimic (Mentor), Niko Herakovič (Co-mentor)

Abstract

Za interni logistični proces znotraj modularno zasnovanega proizvodnega sistema je bilo potrebno razviti avtonomnega mobilnega robota, ki bo samostojno transportiral material med proizvodnimi celicami. Razvili smo več konceptov mobilnega robota, predvsem način odlaganja in nalaganja materiala z mobilnega robota na proizvodne module in obratno ter način pozicioniranja mobilnega robota na proizvodne module s pomočjo priključne postaje. Koncepti so bili analizirani in ovrednoteni, nato sta bila najustreznejša izbrana za izdelavo. S testiranjem delovanja priključne postaje in avtonomnega mobilnega robota smo preverili izbrano strategijo interne logistike in izvedli avtomatizirano strego materiala iz mobilnega robota na proizvodni modul in obratno. Izdelani avtonomni mobilni robot med delovanjem s senzorji zaznava proizvodno okolje v realnem času in izdela digitalno mapo tlorisa modularne proizvodnega sistema. Po tej mapi se je sposoben avtonomno navigirati.

Keywords

magistrske naloge;strojništvo;logistika;robotika;avtomatizacija;AVV;AMR;ROS;SLAM;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [U. Repanšek]
UDC: 007.52:658.5:621.865.8(043.2)
COBISS: 164564483 Link will open in a new window
Views: 50
Downloads: 11
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Other data

Secondary language: English
Secondary title: Internal logistics of a modular production system using an autonomous mobile robot
Secondary abstract: For the internal logistics process within a modularly designed production system, it was necessary to develop an autonomous mobile robot that would transport materials between production cells. We developed multiple concepts for the mobile robot, focusing on the loading and unloading of materials from the robot to the production modules and vice versa, as well as the positioning of the mobile robot on the production modules using a docking station. The concepts were analyzed, evaluated, and the most suitable one was selected for implementation. By testing the operation of the docking station and the autonomous mobile robot, we verified the chosen strategy for internal logistics and performed automated material handling between the mobile robot and the production module. The developed autonomous mobile robot continuously senses the production environment in real-time using sensors and creates a digital map of the layout of the modular production system. It is capable of autonomously navigating based on this map.
Secondary keywords: master thesis;mechanical engineering;logistics;robotics;automation;AGV;AMR;ROS;SLAM;
Type (COBISS): Master's thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XVIII, 62, [5] str.
ID: 19845515