20.500.12556/RUL-139881 Razvoj konceptov in preizkus prototipa prilagodljivega robotskega prijemala za vstavljanje diastatov v čeljusti stroja Concept development and testing of a flexible robotic gripper prototype for diastat insertion into the machine jaws Naloga prikazuje koncept avtomatiziranega vstavljanja cevnih izdelkov (diastata) v več-čeljustno orodje stroja, s pomočjo robotske roke in na novo razvitega in izdelanega prilagodljivega robotskega prijemala. Na ta način smo ročno vstavljanje diastatov nadomestili z avtomatiziranim. Prvi del naloge podrobneje opiše problematiko vstavljanja diastatov v čeljusti orodja in podaja možne rešitve za robotsko vstavljanje valjastih izdelkov v luknjo, ki ni vedno poravnana z izdelkom. V drugem delu naloge smo s 3D programom zmodelirali več konceptov prijemala, ki se samodejno prilagajajo luknji s pomočjo konusa, ter jih tudi fizično izdelali in preizkusili njihovo delovanje. Koncepte smo ovrednotili in podali oceno ustreznosti. Zadnji del naloge zajema testiranje prototipa prilagodljivega prijemala z izbranim konceptom ter podaja možne izboljšave. This work demonstrates the concept of automated insertion of tubular products (diastats) into a multi-jaw machine tool with the help of a robotic arm and a newly developed and manufactured flexible robotic gripper. With this, we replaced the manual method of inserting diastats with an automated one. The first part of this paper describes in detail the problem of inserting diastats into the jaws of the machine and gives possible solutions for the robotic insertion of cylindrical products into a hole that is not always aligned with the product. In the second part of the task, we used a 3D modeling program to model several concepts of gripper mechanisms that automatically adjust to the hole with the help of a cone. We also physically made each concept and tested their function. We evaluated the concepts and gave an evaluation of their relevance. The last part of this paper includes testing the prototype of the flexible gripper with the selected concept and gives possible improvements. robotika avtomatizacija koncipiranje strega kosov prilagodljivo prijemalo robotics automation conception part serving flexible gripper true false false [T. Štucin] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2022-09-08 08:31:49 2022-09-08 08:31:50 2023-10-20 12:46:35 0000-00-00 00:00:00 2022 0 Ljubljana 0 XXII, 50 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.865.8:007.52(043.2) 244524 134962691 17484.pdf 17484.pdf 1 8E1472C59F8DC99DBDA3E59301F5E3E8 c166b503cc2b8a7fd99aeeedbe657f758608e50c5b3a710ca652359adfc38b15 df5c9645-2f3f-11ed-92af-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=160522 Fakulteta za strojništvo 0 0 0