Konstrukcija naprave za testiranje prigona za regulaciju sile kod brušenja robotom

master's thesis

• Title (english): Design of a device for testing a force control drive for robot sanding
• Author: Luka Didak
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-12-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Cilj ovog diplomskog rada je izraditi idejno konstrukcijsko rješenje naprave za testiranje različitih izvedbi prigona za regulaciju sile po kriteriju brzine odziva i točnosti regulacije sile u statičkim i dinamičkim uvjetima. Kako za ovakvu napravu ne postoje gotova rješenja na tržištu, nastojalo se, uzimajući u obzir ograničenja koja postavljaju uvjeti testiranja i robotska ćelija, razviti odgovarajuće rješenje za izradu takve naprave. U radu su predložena tri konceptualna rješenja, a nakon ocjene svakog od njih odabrano je ono s najvišom ocjenom prema kriterijima nosivosti, ukupne mase, cijene izrade, mogućnosti manipulacije i pozicioniranja unutar robotske ćelije. Odabrani koncept je detaljnije razrađen te su za njega izrađeni sklopni i radionički crteži. Razvijeni koncept rezultirao je vrlo fleksibilnim rješenjem primjenjivim u različitim konfiguracijama robotskih ćelija.

Abstract (english)

The goal of this thesis is to create a conceptual design of a device for testing different solutions of force control unit based on criteria of response speed and accuracy of force regulation in static and dynamic testing conditions. Since there are no ready-made solutions for this kind of device on the market, an effort was made, considering the limitations set by the testing conditions and the robotic cell, to develop an appropriate solution for making such a device. Three conceptual solutions were proposed in the paper and after evaluating each on of them, the one with the highest rating was selected based on the criteria of load capacity, total mass, manufacturing cost, manipulation, and positioning within the robotic cell. The selected concept was elaborated in more detail and assembly and workshop drawings were made for it. The developed concept resulted in a very flexible solution applicable in different configurations of robotic cells.

• Keywords: robotsko brušenje; mjerenje i regulacija sile; prigon za regulaciju sile; ispitna naprava; stezna naprava
• Keywords (english): robotic sanding; force measurement and regulation; force control drive; test device; clamping device
• Language: croatian
• URN:NBN: urn:nbn:hr:235:786510
• 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: 2023-12-04 13:18:52