Robotsko rukovanje dijelovima u pokretu

undergraduate thesis

• Title (english): Robotic part handling on the fly
• Author: Domagoj Filar
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovome radu ostvareno je praćenje i izuzimanje predmeta u pokretu (eng. Line tracking). Korištenjem enkodera na pokretnoj traci, na kojoj se nalazi detektor, predmetu rada se prati promjena pozicije samo u jednoj liniji (x os). M-3 delta robot izvodi depaletizaciju predmeta s jedne trake na drugu pokretnu traku, dok DR-3 delta robot prati i izuzima predmete u pokretu.
U prva četiri poglavlja završnoga rada ukratko je opisan način rada delta robota i njihove glavne karakteristike te potrebni dijelovi sustava za ostvarivanje zadatka, kao što su delta roboti, pokretne trake, inkrementalni enkoderi i senzori.
U drugome dijelu opisana je izvedba kućišta za enkodere na jednoj od pokretnih traka s detaljno opisanim svim dijelovima koji su korišteni. Zatim je opisan postupak kalibracije robota i pisanje programa za praćenje više predmeta u pokretu i njihovo izuzimanje putem privjeska za učenje (eng. Teach pendant).

Abstract (english)

With the use of the encoder, which is mounted on the conveyor belt, line tracking of the object in motion has been achieved. Detectors have been placed on the each of the conveyor belts and work object is being monitored for position change in only one axis (x axis). The M-3 delta robot depalletizes objects from one conveyor belt to another moving conveyor belt, while the DR-3 delta robot preforms line tracking of the object in motion and placement of the object.
The first four chapters of the paper describe delta robots and their main characteristics as well as the necessary parts of the system to accomplish the task, such as delta robots, conveyor belts, incremental encoders and sensors.
Second part of the paper describes construction of the housing for the encoders on one of the conveyor belts, with the detailed description of all the parts that have been used. Furthermore, the calibration of the robots and program for the tracking several objects in motion via teach pendant has been described.

• Keywords: delta robot; line tracking; rukovanje dijelovima u pokretu
• Keywords (english): delta robots; line tracking; part handling on the fly
• Language: croatian
• URN:NBN: urn:nbn:hr:235:487223
• 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: 2022-09-26 16:31:09