20.500.12556/RUL-118836 Programiranje varilnega robota s programsko opremo Delfoi Robotics Offline programing of welding robot with Delfoi Robotics software V diplomskem delu je predstavljen postopek izdelave virtualne robotske celice v programu Delfoi. Izdelava robotske celice je vključevala robotsko roko, vpenjalno mizo in robotski gorilnik. V CAD modelirniku SolidWorks smo izdelali vpenjalno mizo in varjenec, ki smo ju uvozili v program Delfoi in ju pozicionirali, kot sta pozicionirana v realnosti. S programom Delfoi smo naredili simulacijo varjenja in kontrolo singularnosti, kolizij, osnih omejitev ter dosega. Po določitvi delovnega koordinatnega sistema in centra orodja smo izvedli varjenje. Rezultat varjenja smo skenirali s skenirno napravo FARO Design ScanArm in preverili pozicijo središča izdelka. Ugotovili smo, da je opisan postopek izdelave virtualne robotske celice in programa v programskem okolju Delfoi primeren za uspešno delovanje robotske celice. Med izdelavo programa nam je programsko okolje omogočalo zaznavanje in odpravljanje napak s simulacijo in kontrolo programa. Izdelana simulacija nam je služila za vizualno predstavo poteka varjenja. Rezultati kontrole singularnosti, kolizije, dosega ter osnih omejitev so pokazali, da program deluje brez napak. Za direktno uporabo programov v fizični celici je ključnega pomena natančna preslikava celice v virtualno okolje. The diploma thesis presents the procedure of creating virtual robotic cell within Delfoi software. The process of making robotic cell included a robotic arm, a positioning table and a welding torch. Within the scope of this thesis, models of positioning table and welding piece were created in SolidWorks CAD software and imported to Delfoi. In Delfoi, we positioned them as they are positioned in reality and the simulation of welding was done. The software also enabled us to check the singularity, collisions, axis limits and reachability. After determination of the working coordinate system and tool center point, the welding was performed. The welding product was scanned using scanning device FARO Design ScanArm. We concluded that described procedure of creating virtual robot cell and robot program with Delfoi software is suitable for successful operation of a robotic cell. During program creation, software enabled us to detect and repair issues using simulation and program control. Created simulation served as visual presentation of welding process. Based on the results of the control of singularity, collisions, axis limits and reachability, it can be concluded that our program works without mistakes. In order to properly use programs on the real robot cells, it is very important to make precise transition of robot cell into virtual environment. programiranje na daljavo programska oprema Delfoi robot MIG/MAG WAAM virtualna robotska celica offline programing software Delfoi robot MIG/MAG WAAM virtual robotic cell true false false [J. J. Vodeb] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2020-09-01 08:31:43 2020-09-01 08:31:46 2022-08-31 03:50:08 0000-00-00 00:00:00 2020 0 Ljubljana 0 XX, 46 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.925.84:621.791(043.2) 222912 30061059 5647.pdf 5647.pdf 1 7A05331CFD93DD442A4BD68DF5E21CF9 0de7ed86aaa21deff4819d419f5480b45c0d32bb01ec76099750ba1312fb2c7f 98f2251f-a1b9-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=133231 Fakulteta za strojništvo 0 0 0