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.
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