Analiza procesa vrtanja pri uporabi robotske roke

Vencelj, Marcel (author), Pušavec, Franci (mentor)

Vrtanje je zelo razširjen in dobro optimiziran postopek za izdelavo izvrtin. V realnem industrijskem okolju pa se vsakodnevno povečuje uporaba robotskih rok v vseh vejah proizvodnje in drugih gospodarskih dejavnostih. Tako je v diplomskem delu cilj analizirati možnost uporabe robotske roke za vrtanje v aluminij. Omejitve robotskih rok so običajno povezane s sposobnostjo prenašanja večjih obremenitev in zagotavljanja stabilne kinematike pri njih. Za analizo so zato v diplomskem delu eksperimentalno, s pospeškomeri, pomerjena nihanja vrtalne glave med procesom vrtanja. Namen diplomskega dela je tudi postavitev eksperimentalnega mesta, ki lahko služi za nadaljnje raziskave. Z merjenimi pospeški so primerjane različne pozicije robotske roke in različne obremenitve. Meritve so bile beležene v programskem okolju DAQExpress, v katerem je bila izvedena prva obdelava meritev pospeškov, katere so bile nadaljnjo obdelane v programu Python z uporabo absolutnih gibajočih povprečnih pospeškov. Iz rezultatov je ugotovljeno, da so bile vibracije najbolj očitne na začetku in koncu vrtanja. Z ustrezno prilagoditvijo tehnologije vstopa in izstopa iz materiala pa smo ugotovili, da je vrtanje z robotsko roko primeren postopek za izdelavo manjših izvrtin v mehkejše materiale.

• Language: Slovenian
• Keywords: vrtanje, robotska roka, antropomorfni robot, analiza, pospeški, vibracije
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Vencelj]
• Year: 2023
• Number of pages: XI, 30 str.
• PID: 20.500.12556/RUL-149911
• UDC: 621.951:621.865.8:007.52(043.2)
• COBISS.SI-ID: 168500227
• Publication date in RUL: 12.09.2023

VENCELJ, Marcel, 2023, Analiza procesa vrtanja pri uporabi robotske roke [online]. Bachelor’s thesis. Ljubljana : M. Vencelj. [Accessed 25 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=149911

Secondary language

• Language: English
• Title: Analysis of the drilling process using a robotic arm

Abstract

Drilling is a widely used and well-optimized process for producing holes. In the real industrial environment, however, the use of robotic hands in all branches of production and other economic activities is increasing every day. The goal of the thesis is to analyze the possibility of using a robotic arm for drilling in aluminum. The limitations of robotic arms are usually related to the ability to carry larger loads and provide stable kinematics for them. Therefore, for the analysis, the fluctuations of the drilling head during the drilling process were measured experimentally, with accelerometers. The purpose of the thesis is also to set up an experimental place that can be used for further research. Different positions of the robotic arm and different loads are compared with the measured accelerations. The measurements were recorded in the DAQExpress software, in which the first processing of the acceleration measurements was carried out. Measurements were further processed in the Python program using absolute moving average accelerations. The results show that the vibrations were most evident at the beginning and end of drilling. With appropriate adaptation of the material entry and exit technology, we found that drilling with a robotic arm is a suitable procedure for making smaller holes in softer materials.

• Keywords: drilling, robots, anthropomorphic robot arm, analysis, accelerations, vibrations