Modeliranje robotske obradne ćelije

undergraduate thesis

• Title (english): Modelling of robotic machining cell
• Author: Karlo Sever
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-02-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj rad prikazuje izradu i testiranje virutalne robotske ćelije iz projekta ARCOPS. Navedena robotska ćelija služi za obradu odvajanjem čestica te ima mogućnost izravnog i posrednog nadzora procesa . Virtualna robotska ćelija omogućava pokretanje simulacija kako bi se velik dio procesa programiranja robota mogao obaviti bez fizičke prisutnosti kod stvarne robotske ćelije. Robotska ćelija korištena u sklopu projekta ARCOPS koristi robote proizvođača ABB te je stoga u cilju ostvarivanja realistične simulacije u radu korišten stoftver istog proizvođača (ABB RobotStudio). U sklopu rada prikazani su i opisani roboti, rotacijski prigoni, alati, senzori i upravljače jedinice koji su sadržani u robotskoj ćeliji. Nadalje, u radu je prikazan detaljan proces postavljanja svih elemenata robotske ćelije u okruženje RobotStudio-a. Prikazan je proces instalacije upravljačkog softvera s pripadajućim konfiguracijama na robote korištene u ovoj robotskoj ćeliji. Na kraju je prikazan proces izvođenja testne simulacije u kojoj robot izvršava nekoliko operacija kako bi se utvrdila funkcionalnost virtualne robotske ćelije.

Abstract (english)

This paper shows the creation and testing of a virtual robotic cell from the ARCOPS project. The aforementioned robotic cell is used for machining applications, with possibilities of both direct and indirect process monitoring. A digital twin enables simulations to be run so that a large part of the robot commissioning and programming process can be done without the physical presence of a real robot cell. The robot cell used as part of the ARCOPS project uses robots manufactured by ABB. Hence, ABB RobotStudio was the software used for budilding the simulation model . As part of the work, the robots, rotary workpiece positioners, tools, sensors and controllers contained in the robotic cell are presented and described. Furthermore, thesis also presents a detailed process of setting up all the elements of the robot cell in the RobotStudio environment. The process of installing copies of the robot configurations used in this robot cell is shown. Finally, the process of performing a test simulation in which the robot performs several operations to determine the functionality of the virtual robot cell is presented.

• Keywords: industrijski robot; virtualna robotska obradna ćelija; ABB RobotStudio; digitalni blizanci; simulacija; brušenje; kontrola
• Keywords (english): industrial robot; virtual robotic machining cell; ABB RobotStudio; digital twins simulation; grinding; control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:393023
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-02-27 11:38:03