Sestavljanje mehanizma podajalnika žice z robotom ABB Yumi

GREGORIČ, FRANCE (author), Mihelj, Matjaž (mentor)

Na proizvodnih linijah še vedno veliko dela opravljajo ljudje. Tu predvsem mislimo na naloge, ki zahtevajo sestavljanje manjših komponent. Z razvojem dvoročnih kolaborativnih robotov je robotika delno pokrila tudi to vrsto proizvodnih linij. S posnemanjem sposobnosti človeka in delovanjem človeka v robotski celici, smo pridobili hiter, natančen in zanesljiv proizvodni proces. V diplomski nalogi smo za namen prikaza sodelovanja človeka z robotom razvili izdelek, ki predstavlja prednosti uporabe kolaborativnih robotov. Sestavljanje zobniškega prenosa v podajalniku žice zahteva dvoročni robotski sistem v kombinaciji z robotskim vidom, izdelava električnih povezav pa sodelovanje človeka. Diplomska naloga predstavlja razvoj podajalnika žice, podan je podroben opis funkcionalnosti robota Yumi, ki smo jih izkoristili za izvedbo naloge, prikazani so metodologija, ki vključuje dvoročnega robota opremljenega z robotskim vidom in prijemali, rezultati in ugotovitve, do katerih smo prišli med razvojem aplikacije. Bralca seznanimo z večino podatkov, ki jih bo lahko potreboval za nadaljnje raziskave, programiranje in umestitev takih robotskih sistemov v proizvodni proces

• Language: Slovenian
• Keywords: robotski sistem, dvoročni kolaborativni robot, strojni vid, RAPID, RobotStudio
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2017
• PID: 20.500.12556/RUL-88654
• Publication date in RUL: 20.01.2017

GREGORIČ, FRANCE, 2017, Sestavljanje mehanizma podajalnika žice z robotom ABB Yumi [online]. Bachelor’s thesis. [Accessed 31 March 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=88654

Secondary language

• Language: English
• Title: Assembly of wire feeder mechanism with ABB Yumi robot

Abstract

Despite the rapid growth of robot-aided automation in production lines, there is still a lot of work left for people to do. Here we mainly refer to tasks that require assembly of smaller components. However, with the application of dual arm collaborative robots, automation also reached this area of production. With the help of robots that mimic human motion and allow human presence inside the robotic cell we obtain a reliable and accurate production process. In the diploma thesis we present product assembly, which highlights advantages of such robots and shows the human-robot collaboration in a production line. Assembly of a geared transmission inside a wire feeder requires a dual arm robot in combination with robot vision, while finalization of electrical connections requires collaboration with a human. The thesis presents the development of the wire feeder, a detailed description of robot functionalities required for accomplishing the task is given, presented are methodology that combines a dual arm robot equipped with robot vision and grippers and results with concluding remarks. The reader gains a handful of data that he will be able to use in his own projects when dealing with a similar problem.

• Keywords: robotic system, bimanual collaborative robots, machine vision, RAPID, RobotStudio