Programiranje upravljačkog sustava fleksibilne robotske ćelije

master's thesis

• Title (english): Commissioning of flexible robotic cell
• Author: Marko Jurakić
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-01-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

U sklopu diplomskog rada prikazana je izrada programske podrške za fleksibilnu robotsku ćeliju kakva se može vidjeti u današnjim proizvodnim postrojenjima. Ćelija sadrži tri robotske ruke proizvođača Stäubli te joj je zadatak sklapanje tri različita predmeta u sklop. Dijelovi od kojih se sastoji sklop su kućište sklopa, PTC senzor i klin. Programibilni logički kontroler (PLC) sinkronizira rad pojedinih elemenata ćelije. Zadaci pojedinih robotskih ruku prikazani su dijagramima toka i opisani su tipovi robotskih ruku. Robotski kontroler CS9 i PLC komuniciraju koristeći Profinet komunikacijski protokol. Fokus ovog rada je izrada programske podrške za tri robotske ruke koja je izrađena u programskom paketu Stäubli Robotics Suite.

Abstract (english)

A flexible robotic cell that can be seen in a modern production facility is presented in this paper. The cell contains three robotic arms manufactured by Stäubli, whose task is to assemble three different objects into an assembly. The assembly is comprised of a housing, PTC sensor and a wedge. A Programmible Logical Controller (PLC) syncronises the movements of specific elements of the cell. The tasks of individual robotic arms are shown in flowcharts and the types of robotic arms are described, The CS9 controller and the PLC communicate using the Profinet communication protocol. The focus of this paper is the creation of software support for three robotic arms, which was created using Stäubli Robotics Suite software package.

• Keywords: fleksibilna robotska ćelija; robotska ruka; Stäubli Robotics Suite; Profinet; automatizacija proizvodnje; PLC; Stäubli; CS9
• Keywords (english): flexible robotic cell; robotic arm; Stäubli Robotics Suite; Profinet; manufacturing automation; PLC; Stäubli; CS9
• Language: croatian
• URN:NBN: urn:nbn:hr:235:516159
• 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: Embargoed access; Embargo expiration date: 2028-01-26
• Created on: 2023-01-19 09:06:46