Simulacija primjene digitalizatora u korekciji putanje alata prema odstupanju položaja i orijentacije kod stezanja pripremka

master's thesis

• Title (english): Simulation of 3D scanner-based tool path correction for position and orientation of the workpiece clamping
• Author: Luka Repalust
• 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; Production Mechanical Engineering

Abstract

Tema ovog diplomskog rada je simulacija primjene digitalizatora za korekciju putanje alata prema odstupanju položaja i orijentacije pripremka prilikom stezanja. U radu je izrađen programski kod koji na temelju rezultata analize odstupanja korigira položaj alata robota prilikom brušenja ispitnih uzoraka. Mjerni postav za analizu rezultata digitalizacije formiran je u programskom paketu GOM Inspect Pro, gdje je zadani sklop stezne naprave i ispitnog uzorka korišten kao idealni CAD model, a sklop sa zamaknutim ispitnim uzorcima kao simulirani rezultati digitalizacije. Rezultati analize odstupanja koordinata točaka i vektora normala na površinu zamaknutih ispitnih uzoraka korišteni su kao ulazni podaci na temelju kojih se ažurira RAPID kod. Na kraju su izvorni program i program s korigiranim položajima alata robota simulirani u programskom paketu ABB RobotStudio te je ustanovljeno da programski kod ispravno korigira putanju alata.

Abstract (english)

The subject of this Master’s thesis is the simulation of a 3D scanner-based tool path correction method required due to possible position and orientation deviations of the workpiece during clamping. In this thesis, a program code was developed that, based on the results of the deviation analysis, corrects the position of the robot’s tool for the sanding operations performed on the workpiece. A measuring setup for analyzing 3D scanning results was formed in a software GOM Inspect Pro, where the specified assembly of the workpiece and the clamping device defined the ideal CAD model and 3D models with displaced workpieces were used to simulate the scanning results. The results of the coordinates and vector normals deviation analysis were used as input data to update the RAPID code. Finally, both the initial and corrected programs were simulated in the ABB RobotStudio software package, and it was determined that the program code adjusts the tool path correctly.

• Keywords: industrijski robot; korekcija putanje alata; GOM Inspect
• Keywords (english): industrial robot; tool path correction; GOM Inspect
• Language: croatian
• URN:NBN: urn:nbn:hr:235:801512
• 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: 2023-12-05 16:32:06