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Sistem hitro izmenljivih robotskih prstov
ID ŽURA, MATIC (Author), ID Munih, Marko (Mentor) More about this mentor... This link opens in a new window, ID Zore, Aleš (Comentor)

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Abstract
Robot je postal nepogrešljiv del industrijskega procesa in se hitro širi tudi v druge panoge, kot sta zdravstvo in kmetijstvo. Robot z fiksnim orodjem (tekom opravljanja naloge se ne menja) je zmožen opravljati samo eno nalogo. Za celoten proces, ki vsebuje veliko različnih nalog, bi tako potrebovali veliko število robotov. Menjava orodja omogoča več dela, ki jih opravi manj robotov, kar pomeni zmanjšanje zahtev po visokih naložbah s tem pa tudi visoko fleksibilnost obrata. V diplomski nalogi smo se osredotočili na sistem hitro izmenljivih prstov kot način hitre avtomatske menjave orodja. Po pregledu metod odklepanja in zaklepanja smo izbrali metode, ki so omogočale, da je sistem izmenljivih prstov preprost, zanesljiv, mehansko tog, dovolj majhen in primerno močan. Kot dodaten kriterij smo upoštevali, da so stroški izdelave sistema čim manjši. Iz izbranih štirih metod smo naredili prototipe sistemov hitro izmenljivih prstov na zaponko, vodilo, zaskočnik in aretirni sornik. Testirali smo njihove statične lastnosti in uspešnost robotske izmenjave. Rezultati testiranj izpostavljajo sistem izmenljivih prstov na aretirni sornik kot najboljšega.

Language:Slovenian
Keywords:robot, prsti, menjava, testiranja
Work type:Bachelor thesis/paper
Organization:FE - Faculty of Electrical Engineering
Year:2022
PID:20.500.12556/RUL-138549 This link opens in a new window
COBISS.SI-ID:117068035 This link opens in a new window
Publication date in RUL:27.07.2022
Views:1198
Downloads:87
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Secondary language

Language:English
Title:A system of quick-change robotic fingers
Abstract:
The robot has become an indispensable part of the industrial process and is rapidly spreading to other industries such as healthcare and agriculture. A robot with a fixed tool (does not change during the task) is able to perform only one task. Thus, a large number of robots would be needed for the whole process, which contains many different tasks. Tool change allows for more work to be done by fewer robots, which means a reduction in high investment requirements and thus high plant flexibility. In the diploma thesis we focused on the system of quick interchangeable fingers as a way of fast automatic tool change. After reviewing the unlocking and locking methods, we chose methods that allowed the interchangeable finger system to be simple, reliable, mechanically rigid, reasonably small, and suitably strong. As an additional criterion, we considered that the cost of manufacturing the system is as low as possible. From the selected four methods, we made prototypes of quickly interchangeable finger systems based on the Snap-Fit, rail guide, index bolt and ball lock pin method. We tested their static properties and robotic exchange performance. The test results highlight the interchangeable finger system based on the ball lock pin as the best.

Keywords:robot, fingers, swapping, testing

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