Primjena robota kod brušenja zavarenog spoja

undergraduate thesis

• Title (english): Robot sanding of welded joint
• Author: Emil Butek
• Mentor: Tomislav Staroveški (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

U ovome završnom radu provedeno je ispitivanje postupka brušenja nadvišenja zavara na tankostjenim pozicijama primjenom robotskog ispitnog postava smještenog u Laboratoriju za alatne strojeve, Fakulteta strojarstva i brodogradnje u Zagrebu, u svrhu provođenja projekta ARCOPS. U uvodnom dijelu dan je opis zadatka te je razrađena struktura rada. Zatim je opisan korišteni industrijski robot ABB IRB 6640-235/2.55 kao i ostali dijelovi ispitnog postava. Nadalje, prezentiran je proces generiranja putanje alata pomoću CAD/CAM sustava CATIA V5R21, a potom i postupak verificiranja putanje primjenom simulacijskog programa RoboDK, pomoću kojeg je izvršeno post procesiranje. Također je objašnjen postupak određivanja nultočke na obratku pomoću robota te je opisan postupak pri kojem su definirani orijentacijski parametari obrade. Na kraju, donesen je zaključak rada u kojem je utvrđena mogućnost postizanja potrebne kvalitete, tj. poravnavanja zavarenog spoja s osnovnom površinom.

Abstract (english)

In this final paper, an examination of the process of sanding weld overhang in thin-walled positions was carried out using a robotic test set-up located in the Laboratory for Machine Tools of the Faculty of Mechanical Engineering and Naval Architecture in Zagreb, for the purpose of implementing the ARCOPS project. In the introduction, a description of the task is given and the structure of the work is elaborated. Industrial robot ABB IRB 6640-235/2.55 is described, as well as other parts of the test set-up used in experiment. Furthermore, the toolpath generation procedure using the CAD/CAM system CATIA V5R21 is preseneted, as well as the process of verifying the path using the RoboDK simulation software, where post-processing has been performed. Also, the process of determining the zero point on the workpiece using a robot is explained, and the procedure for defining the orientation machining parameters is described. At the end, the conclusion of the work was made, in which the possibility of achieving the required quality, i.e. alignment of the welded joint with the base surface, was established.

• Keywords: industrijski robot; generiranje putanje alata; simulacija obrade; parametri obrade
• Keywords (english): industrial robot; toolpath generation; machining simulation; machining parameters
• Language: croatian
• URN:NBN: urn:nbn:hr:235:298041
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering; Course: Production 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: 2023-02-23 09:43:16