20.500.12556/RUL-187906 Algoritem podajanja materiala za 3D-tiskanje z robotom Material feeding algorithm for robotic 3D printing Magistrsko delo obravnava 3D-tiskanje z industrijskim robotom Fanuc, ki ga programiramo v okolju ENCY. Za razliko od namiznega robota Dobot, pri katerem je podajanje materiala vgrajeno v G-kodo (parameter E), program robota Fanuc vsebuje le pot gibanja brez podatkov o materialu. V delu smo najprej analizirali krmiljenje ekstruderja v Dobotovi G-kodi in v okolju ENCY pripravili program za testni izdelek. Hitrost gibanja na konici orodja (TCP) smo določili neposredno iz programske kode. Ugotovili smo, da znaša konstantnih 3 mm/s, pri čemer je dejansko nastavljena vrednost 200 mm/min (3,33 mm/s), ki jo postprocesor zaokroži; rezultat smo potrdili s simulacijo. Na podlagi ohranitve volumna smo zasnovali algoritem za analogno podajanje ekstruderja, pri katerem je krmilni signal sorazmeren hitrosti gibanja (U = k·v). Z analizo Dobotove kode smo dokazali enakovrednost obeh pristopov, numerična preverba nad dejansko potjo pa je potrdila pravilno količino nanesenega materiala (0 % odstopanja) pri konstantni in spremenljivi hitrosti. This master's thesis addresses 3D-printing with a Fanuc industrial robot programmed in the ENCY software. Unlike the desktop Dobot robot, where the material feed is embedded in the G-code (parameter E), the Fanuc robot program contains only the motion path without any material data. First, the extruder control in the Dobot G-code was analysed and a program for a test part was prepared in ENCY. The tool-tip (TCP) speed was then determined directly from the program code. It was found to be a constant 3 mm/s, while the actually set value is 200 mm/min (3.33 mm/s), which the postprocessor rounds; this result was confirmed by simulation. Based on volume conservation, an algorithm for analogue extruder feed was designed, in which the control signal is proportional to the motion speed (U = k·v). By analysing the Dobot code, the equivalence of both approaches was proven, and a numerical verification along the actual path confirmed the correct amount of deposited material (0 % deviation) at both constant and variable speed. 3D-tiskanje aditivna proizvodnja industrijski roboti Fanuc podajanje ekstruderja hitrost TCP 3D-printing additive manufacturing industrial robots Fanuc extruder feed TCP-speed true false false [S. Jaklič] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2026-09-16 08:30:53 2026-09-16 08:30:57 2026-09-17 10:22:58 0000-00-00 00:00:00 2026 0 Ljubljana 0 XXII, 67 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 62-52:004.896:004.925.8(043.2) 290534 291393795 49525.pdf 49525.pdf 1 F0B13C1EB95BC5877BC63C194592A834 5edc2f0fcb8cb23d03887608297616786dca830560ca42c176cdd699f4cb0bd4 272ef4e2-b198-11f1-8bc5-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=247735 Fakulteta za strojništvo 0 0 0