20.500.12556/RUL-80201 Robotska manipulacija in razvrščanje mikroskopskih stekel in tkivnih blokov Robot manipulation and sorting of microscope glasses and tisue blocks Namen diplomske naloge je izgradnja sistema, ki bi nadomestil zamudno ročno in posledično drago delo razvrščanja mikroskopskih stekel in tkivnih blokov za potrebe Inštituta za patologijo Ljubljana. Sistem bomo realizirali z uporabo industrijskega robota, bralnika QR kode, vakuumskega ter pnevmatskega prijemala. V uvodnem poglavju opišemo razloge za željo avtomatizacije razvrščanja. Predstavimo dosedanji razvoj na tem področju in si zastavimo cilje, ki jih želimo doseči ob izdelavi naloge. V drugem poglavju najprej opišemo mikroskopsko steklo in ročno razvrščanje, ki ga opravljajo zaposleni. Nato sledi opis tkivnega bloka in njegova ročnega razvrščanja. Namen je spoznavanje bralca s problemom, ki ga želimo rešiti. V tretjem poglavju najprej predstavimo idejno zasnovo projekta. Nato opišemo uporabljeno strojno opremo, na koncu pa opišemo program za upravljanje robota in osnovne ukaze. V četrtem poglavju opišemo načrtovanje in izdelavo našega sistema. Na začetku predstavimo predmete in postopke, ki so bili skupni obema manipulacijama objektov, nato opis izdelave prijemala za mikroskopska stekla, na koncu sledi opis izdelave prijemala za tkivne bloke. V petem poglavju predstavimo delovanje našega sistema s predstavitvijo programske kode. Za konec podamo dosežene rezultate branja QR kode. The aim of this thesis is to build a system which would replace time-consuming and thus expensive manual labour of sorting microscope slides and tissue blocks, for the needs of Institute of pathology Ljubljana. We will build our system with the use of an industrial robot, QR code reader, vacuum and pnemaumatic gripper. The introductory chapter presents reasons for the decision of automatic sorting, current development in this area and goals of this thesis. The second chapter describes a microscope slide and manual sorting of the slides, which employees encounter on a daily basis. Then the tissue block and its manual sorting is presented. The intention is to familiarize the reader with the problem at hand. In the third chapter the design concept of the project is introduced. Following is the description of hardware that was used in this project. At the end of the chapter the software for controlling the robot and basic commands are listed. The fourth chapter is crucial, it contains planning and assembly of our system. At the beginning, description of hardware and procedures mutual to both objects of manipulation are provided. Following is a description of the microscope slide gripper assembly and the explanation of tissue block gripper assembly. In the fifth chapter the functioning of our system is demonstrated through the presentation of the software code. At the end the results are given, which were achieved by reading QR code labels. mikroskopsko steklo tkivni blok manipulacija razvrščanje QR koda industrijski robot vakuumsko prijemalo pnevmatsko prijemalo microscope slide tissue block manipulation sorting QR code industrial robot vacuum gripper pneumatic gripper true false false Slovenski jezik Angleški jezik Diplomsko delo 2016-02-11 15:15:06 2016-02-11 15:15:09 2022-08-01 20:40:01 0000-00-00 00:00:00 2016 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 31503 Lindic_Andrej_-_Robotska_manipulacija_in_razvrscanje_mikroskopskih_stekel_in_tkivnih_blokov.pdf Lindic_Andrej_-_Robotska_manipulacija_in_razvrscanje_mikroskopskih_stekel_in_tkivnih_blokov.pdf 1 5E0CAD5424423A5453080A7C3CAC65D1 d98721a954f70f2c2a58d3322ec29148f94a19ebf8824d5e6a284a56a83b1e4f 67f28d7f-a1ad-11eb-a523-00155dcfd717 20.500.12556/rul/b032888b-c1d2-4d2f-89a9-f7f58775a28b https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=80245 Fakulteta za elektrotehniko 0 0 0