Analiza topologije površine obrađene robotskim sustavom

master's thesis

• Title (english): Analysis of surface topology machined using robot milling system
• Author: Ivan Haboić
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-01-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

Zadatak ovog rada bio je analizirati topologiju površina ispitnih uzoraka dobivenih glodanjem robotom. Zadatak se temelji na pretpostavci postojanja mjerljivog utjecaja poze (konfiguracije zglobova) robota na njegovu krutost. Eksperiment je uključivao izradu dva ispitna uzorka na različitim udaljenostima od robota. U radu je opisana priprema uzoraka od planiranja tehnološkog postupka obrade, preko simulacije obrade u virtualnoj robotskoj ćeliji, do same izrade. Opisuje se i analiza topologije značajki digitaliziranih uzoraka te daje usporedba odstupanja. Ustanovljeno je povećanje odstupanja svih tolerancija oblika, orijentacije, položaja, i netočnosti okretanja na ispitnom uzorku izrađenom na udaljenijem položaju.

Abstract (english)

The task of this graduate thesis was to analyze the surface topology of test samples obtained by robot milling. The task is based on the assumption of the measurable influence of the robot's pose (joint configuration) on its rigidity. The experiment involved creating two test samples at different distances from the robot and comparing the topology of the surfaces and features on the samples. The work describes the preparation of samples from planning of the technological processing procedure, simulating the processing in a virtual robotic cell, to the actual production. The analysis of the topology of features of digitized samples is also described, along with a comparison of tolerances. An increase in deviations of all shape, orientation, position, and turning accuracy tolerances was found in the test sample obtained at a greater distance.

• Keywords: obrada robotom; glodanje; krutost; topologija; 3D digitalizacija; odstupanja značajki
• Keywords (english): robotic machining; milling; rigidity; topology; 3D digitisation; feature tolerance
• Language: croatian
• URN:NBN: urn:nbn:hr:235:070925
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-01-22 08:59:00