magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Tjaša Merljak (Author), Franci Pušavec (Mentor)

Abstract

Zaradi zahtev po fleksibilnosti in avtomatizaciji se v industriji vedno pogosteje pojavlja uporaba robotov za doseganje željene stopnje avtomatizacije procesov. Pri integraciji robotov v proizvodne linije želimo zmanjšati potrebo po dodatnem prostoru za njihovo varovanje in omogočiti tesno sodelovanje med človekom in strojem. Zato se vse pogosteje uporabljajo kolaborativni roboti, ki so prilagojeni za delo v neposredni bližini človeka. V magistrskem delu je obravnavana možnost uporabe kolaborativnega robota TM14S v odrezovalnem procesu. Pripravljena je bila funkcionalna robotska celica z obdelovalno mizo, pnevmatskimi komponentami in obdelovalnim orodjem, prilagojena za manipulacijo z obdelovancem in izvajanje postopkov odrezavanja. Z uporabo naprednega digitalnega modela in postprocesorja je bila generirana koda za obdelavo, ki je v kombinaciji z ročnim učenjem robota omogočila manipulacijo s surovcem in izvedbo postopka obdelave konkretnega izdelka. Geometrijo končnega izdelka smo zajeli s 3D skeniranjem in primerjali z referenčnim CAD modelom. Odstopanja so pokazala, da je bila izbrana tehnologija obdelave primerna za osnovne obdelovalne naloge, medtem ko so se omejitve sistema pokazale predvsem pri odrezavanju zahtevnejših geometrij zaradi strukturnih omejitev in omejene togosti robota.

Keywords

magistrske naloge;kolaborativni roboti;robotska celica;odrezavanje;CAD/CAM;3D skeniranje;napredni digitalni modeli;simulacija obdelave;5-osna simultana obdelava;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [T. Merljak]
UDC: 007.52:004.896:621.914(043.2)
COBISS: 241401603 Link will open in a new window
Views: 171
Downloads: 64
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Other data

Secondary language: English
Secondary title: Usage of a collaborative robot in machining processes
Secondary abstract: Due to increasing demands for flexibility and automation, the use of robots in industry is becoming more common to achive the desired level od process automation. In integrating robots into production lines, the goal is to minimize the need for additional safety space and to enable close cooperation between humans and machines. For such purposes, collaborative robots are increasingly used, as they are designed to operate safety in close proximity to humans. This master's thesis investigates the possibility of using the collaborative robot TM14S in a machining process. A functional robotic cell was developed, equipped with a machining table, pneumatic component and a cutting tool, adapted for workpiece manipulation and material removal tasks. Using an advanced digital model and a postprocessor, machining code was generated, which combined with manual robot teaching, enabled the manipulation of the workpiece and execution of the machining process on a specific part. The geometry of the final product was captured with 3D scanning and compared with the reference CAD model. The deviations indicated that the selected machining technology was suitable for basic material removal tasks, while the system's limitations become apperent when machining more complex geometries due to the robot' limited rigidity and strucural constraints.
Secondary keywords: master thesis;collaborative robots;robotic cell;machining;CAD/CAM;3D scanning;advanced digital models;machining simulation;5-axis simultaneous machining;
Type (COBISS): Master's thesis/paper
Study programme: 0
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XX, 79 str.
ID: 26712192
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