Rekonstrukcija robota kartezijske strukture

master's thesis

• Title (english): Reconstruction of the Cartesian robot
• Author: Krešimir Major
• Mentor: Tomislav Stipančić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-12-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

U ovom radu bavimo se rekonstrukcijom kartezijevog koordinatnog robota. Potreba za
samom rekonstrukcijom došla je zbog zastarjelosti opreme i korisničkog sučelja koji su na
robotu bili implementirani nekoliko desetljeća i koji se danas više nigdje u industriji ne
koriste. Kroz rad obuhvatit će se tri velike cjeline kroz koje je izvršena rekonstrukcija samog
robota:
I. Odabir nove opreme
II. Implementiranje nove opreme na robota
III. Programiranje robota i osposobljavanje njega za daljnji razvoj
Kroz prvu cjelinu prikazat će se i opisati nova, ali i zastarjela oprema robota. Detaljno
će se opisati specifikacije svake komponente, a na kraju će se usporediti sve komponente
zastarjele opreme, koje se zamjenjuju, s novim komponentama.
U drugoj cjelini opisat će se implementacija novih komponenti na postojeći robot.
Prikazat će se njihovi položaji i objasniti razlog i način implementacije. Osim samog
postavljanja komponenti potrebno je i elektronički ih spojiti. Sheme elektroničkog spajanja
možete vidjeti u prilozima na kraju rada, a opis spajanja možete pročitati u poglavlju 3.
Zadnji dio rekonstrukcije kartezijevog koordinatnog robota obuhvaća programiranje
samog robota. U poglavljima 4 i 5 možete vidjeti detaljan opis i prikaz programa potrebnih
kako bi se robot osposobio za rad, ali i za daljnji razvoj.
Robot se nalazi u sklopu Laboratorija za projektiranje izradbenih i montažnih sustava,
na Fakultetu strojarstva i brodogradnje, i nakon završetka rekonstrukcije koristi se za daljnje
edukacijske svrhe.

Abstract (english)

In this paper, we deal with the reconstruction of the Cartesian coordinate robot. The
need for the reconstruction itself came about due to the obsolescence of the equipment
and the user interface that had been implemented on the robot for several decades and are
no longer used anywhere in the industry today. The work will cover three large chapters
through which the reconstruction of the robot itself was carried out:
I. Selection of new equipment
II. Implementation of new equipment on the robot
III. Programming the robot and preparing it for further development
The first part will show and describe new and also outdated robot equipment. The
specifications of each component will be described in detail, and at the end, all the
components of the obsolete equipment, which are being replaced, will be compared with
the new components.
The second part will describe the implementation of new components on the existing
robot. Their positions will be shown and the reason and method of implementation will be
explained. In addition to installing the components, it is also necessary to connect them
electronically. You can see the electronic connection schemes in the appendices at the end
of the paper, and you can read the description of the connection in chapter 3.
The last part of the reconstruction of the Cartesian coordinate robot includes the
programming of the robot itself. In chapters 4 and 5, you can see a detailed description and
presentation of the programs needed to prepare the robot for work, as well as for further
development.
The robot is located in the Laboratory for the design of manufacturing and assembly
systems and after the completion of the reconstruction, it is used for further educational
purposes.

• Keywords: kartezijev; koordinatni; robot; aktuator; servo pogon; motor; program; programski kod; elektronička shema; osi; linearni; programabilni logički kontroler; Delta; CANopen; ethernet; CANopen Builder
• Keywords (english): Cartesian; coordinate; robot; actuator; servo drive; motor; program; program code; electronic scheme; axes; linear; programmable logic controller; Delta; CANopen; ethernet; CANopen Builder
• Language: croatian
• URN:NBN: urn:nbn:hr:235:989542
• 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: 2022-11-30 12:03:15