Integracija rotirajoče mize na antropomorfni robot za 7 oso obdelavo s procesom frezanja

Cuznar, Miha (author), Pušavec, Franci (mentor), Kopač, Janez (co-mentor)

Robotski manipulatorji se čedalje bolj uveljavljajo v industrijskem okolju. So potencialna zamenjava nekaterim CNC strojem, saj imajo večjo delovno površino in, zaradi šestih delovnih osi, večjo dostopnost do delovnega prostora. Njihovo uporabnost lahko nadalje izboljšamo z vgraditvijo dodatne osi. Na ta način se zmanjša čas izdelave kosa (manj jalovih hodov pri načrtovanju poti orodja), izboljša dimenzijska točnost ter hrapavost obdelane površine. To diplomsko delo je zajelo predstavitev korakov pri integraciji rotirajoče pozicionirne mize na antropomorfni robot za 7 oso obdelavo s procesom frezanja. Cilj diplomskega dela je bila nadgradnja 6 osnega robotskega manipulatorja z rotirajočo pozicionirno mizo ter tako doseči 7 osno obdelavo. V diplomskem delu so bile najprej predstavljene teoretične osnove, nato je sledila pojasnitev korakov pri nadgradnji obstoječega robotskega manipulatorja z dodatno osjo. Predstavljena je bila komunikacijska vez med rotirajočo pozicionirno mizo ISEL RF1 preko krmilnika IT116G na krmilni računalnik robota KUKA KR 150-2. V okviru diplomskega dela je bil izdelan poseben računalniški program za rotacijo pozicionirne mize v robotskem jeziku Kuka Robot Language (KRL), ki se je nato integriral v že obstoječi program KUKA KRC za vodenje robotske roke. Krmiljenje rotirajoče pozicionirne mize je tako postal enotni del robotskega manipulatorja, katerega se nato krmili, t.j. pripravi NC program, v programskem okolju SprutCAM.

• Language: Slovenian
• Keywords: antropomorfni roboti, robotske roke, pozicionirne mize, industrijski roboti, rotirajoče mize, integracija dodatnih osi
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Cuznar]
• Year: 2019
• Number of pages: XXII, 52 str.
• PID: 20.500.12556/RUL-109595
• UDC: 007.52:004.896(043.2)
• COBISS.SI-ID: 16869403
• Publication date in RUL: 06.09.2019

Secondary language

• Language: English
• Title: Integration of rotary table on the antropomorph robot for a 7 axsis milling process

Abstract

Robotic arms are increasingly gaining ground in the industrial environment. They are a potential replacement for some CNC machines because they have a larger working surface, and their six working axes offer a better access to the work space. The usability of CNC machines and robotic arms can be further improved by incorporating an additional axis. This reduces the production time, improves the dimensional accuracy and the roughness of the treated surface. This thesis includes the presentation of the steps necessary in integrating the 7th axis (the rotary positioning table) on an anthropomorphic robot arm. The aim of the thesis is to successfully integrate a rotary table, which serves as the 7th axis in the robot cell. The thesis first presents the theoretical framework, followed by an explanation of the steps involved in upgrading the existing robotic arm with an additional axis. This includes the presentation of the communication link between the rotary positioning table ISEL RF1 via the controller IT116G to the control computer of the robot KUKA KR 150-2. For the purpose of this thesis, a special computer program for the rotation of the positioning table was developed in the robot language KRL (Kuka Robot Language). This program was then integrated into the already existing KUKA KRC computer which controls the robotic arm. The control of the rotary positioning table thus becomes the uniform part of the robotic manipulator, which is then controlled by the NC program in the SprutCAM programming environment.

• Keywords: antropomorph robots, robotic arms, position tables, industrial robots, rotary tables, integration of additional axis