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1.
Razvoj in oblikovanje rekreacijskega vozila : diplomsko delo
Matija Perš, 2025, undergraduate thesis

Abstract: V diplomski nalogi je predstavljen razvoj in oblikovanje rekreacijskega vozila s poudarkom na optimizaciji notranje postavitve, stabilizacijskega sistema in električni samooskrbi. Razvili smo modularno notranjo opremo ki omogoča prilagodljivost in maksimalno izrabo prostora. Uporabili smo računalniško podprto konstruiranje(CAD) v programu Creo. Električni sistem temelji na Mastervolt inverterju, ki zagotavlja avtonomno napajanje. Rezultati kažejo, da vozilo ponuja visoko funkcionalnost in udobje za uporabnike, hkrati pa omogoča energetsko neodvisnost in stabilno uporabo na različnih terenih
Keywords: Rekreacijsko vozilo, razvoj, predelava
Published in DKUM: 08.05.2025; Views: 0; Downloads: 0

2.
Izdelava plk programa za robotsko celico za posluževanje cnc stroja : diplomsko delo
Klemen Vrentuša, 2024, undergraduate thesis

Abstract: Diplomska naloga se osredotoča na avtomatizacijo posluževanja CNC stroja z uporabo kolaborativnega robota DOBOT. Naloga zajema razvoj in implementacijo PLK programa za Siemensov programabilni krmilnik S7-1214C, pri čemer je za programiranje uporabljen TIA Portal. Operater vnese željene parametre preko uporabniškega panela, ki je nameščen na robotski celici, komunikacija med panelom in krmilnikom pa poteka preko PROFINET protokola. Prav tako je vzpostavljena komunikacija med robotom in krmilnikom s pomočjo MODBUS protokola. V nalogi je opisana vzpostavitev MODBUS komunikacije in razvoj programa, ki ustreza specifičnim zahtevam robotske celice. Opisan sistem omogoča operaterju, da hkrati upravlja več CNC strojev, kar povečuje operativno učinkovitost in zmanjšuje potrebo po človeškem nadzoru.
Keywords: Avtomatizacija, PLK, industrija, robotska celica, CNC stroja
Published in DKUM: 06.05.2025; Views: 0; Downloads: 49
.pdf Full text (3,77 MB)

3.
Vpenjalna priprava za vpenjanje ohišja črpalke
Luka Kitak, 2024, undergraduate thesis

Abstract: Izdelati je potrebno vpenjalno pripravo za obdelavo 25 kosov obdelovancev, za katere je na voljo STL model in podatek, da gre za odlitke. Potrebno je strojno obdelati vse funkcionalne površine kosa. V delu je predstavljeno načrtovanje vpenjalne priprave, izbira komponent, iz katerih je sestavljena, ter izvedba končne rešitve. Končno rešitev naloge predstavljata dve vpenjalni pripravi, posebej prilagojeni zahtevam za obdelavo dodeljenega kosa. Izdelani sta iz modularnih komponent, ki omogočajo prilagodljivo in cenovno ugodno sestavo.
Keywords: Vpenjalna priprava, CNC obdelava, CAD zasnova
Published in DKUM: 01.04.2025; Views: 0; Downloads: 60
.pdf Full text (3,40 MB)

4.
Task-oriented evaluation of the feasible kinematic directional capabilities for robot machining
Saša Stradovnik, Aleš Hace, 2022, original scientific article

Abstract: Performing the machining of complex surfaces can be a challenging task for a robot, especially in terms of collaborative robotics, where the available motion capabilities are greatly reduced in comparison with conventional industrial robot arms. It is necessary to evaluate these capabilities prior to task execution, for which we need efficient algorithms, especially in the case of flexible robot applications. To provide accurate and physically consistent information about the maximum kinematic capabilities while considering the requirements of the task, an approach called the Decomposed Twist Feasibility (DTF) method is proposed in this study. The evaluation of the maximum feasible end-effector velocity is based on the idea of decomposition into the linear and angular motion capabilities, considering a typical robot machining task with synchronous linear and angular motion. The proposed DTF method is presented by the well-known manipulability polytope concept. Unlike the existing methods that estimate the kinematic performance capabilities in arbitrarily weighted twist space, or separately in the translation and the rotation subspace, our approach offers an accurate and simple solution for the determination of the total kinematic performance capabilities, which is often highly required, especially in the case of robot machining tasks. The numerical results obtained in this study show the effectiveness of the proposed approach. Moreover, the proposed DTF method could represent suitable kinematic performance criteria for the optimal placement of predefined tasks within the robot workspace
Keywords: robot surface machining, task feasibility, task-dependent kinematic capability, kinematic performance evaluation, manipulability index, manipulability polytope, motion decomposition, Decomposed Twist Feasibility method, DTF method
Published in DKUM: 01.04.2025; Views: 0; Downloads: 2
.pdf Full text (9,47 MB)
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5.
Zasnova in izdelava CNC stroja za lasersko graviranje
David Fridrih, 2025, undergraduate thesis

Abstract: Pred izdelavo stroja za lasersko graviranje je bilo potrebno izbrati želeno obliko in konstrukcijo. Izdelali smo osnovno skico, nato je sledila izdelava CAD modela. Ta model nam je omogočal preverjanje skladnosti raznih komponent med sabo. Vse plastične komponente stroja smo izdelali s pomočjo 3D tiska, pogonsko os pa s struženjem. Vse ostale komponente smo kupili (vijake, motorje, elektroniko). Stroj se giblje po X- in Y-osi, po Z-osi pa ga je mogoče nastavljati samo ročno. Glavni gibanji stroja se ne opravljata po vodilih, temveč se voziček vozi s kolesi po utoru profila. Gibanje se opravlja preko motorjev na jermena. Za to sta uporabljena dva motorja, ki ju krmili krmilnik na zadnji strani ohišja. Stroj mora biti med obratovanjem ves čas priključen na računalnik.
Keywords: CNC stroj, CAD model, lasersko graviranje, 3D tisk
Published in DKUM: 04.03.2025; Views: 0; Downloads: 75
.pdf Full text (2,16 MB)
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6.
Primer napredne robotske manipulacije z redundantno robotsko roko Franka Emika Panda in ROS : magistrsko delo
Rok Casar, 2024, master's thesis

Abstract: V magistrski nalogi smo raziskali uporabo redundantnih robotskih manipulatorjev za izboljšanje prilagodljivosti in zmogljivosti pri izvajanju nalog v okoljih z ovirami, s poudarkom na robota Franka Emika Panda. Osredotočili smo se na analizo in primerjavo različnih načrtovalnikov poti ter reševalnikov inverzne kinematike, da bi ocenili njihovo učinkovitost pri obvladovanju sklepnih omejitev in izogibanju oviram. Z razvojem aplikacije pobiranja in odlaganja (angl. Pick and place) v okolju ROS in z orodjem Moveit smo demonstrirali, kako redundantnost omogoča izboljšano manevriranje in kompleksne gibe, ki so potrebni za napredne robotske aplikacije. Rezultati kažejo, da je pristop s poudarkom na redundantnosti bistven za doseganje boljših operativnih sposobnosti robota, še posebej v zahtevnih industrijskih okoljih.
Keywords: ROS, Moveit, Franka Emika Panda, redundantnost, robot, izogibanje oviram, manipulacija, načrtovanje poti
Published in DKUM: 20.01.2025; Views: 0; Downloads: 29
.pdf Full text (5,10 MB)

7.
Posodobitev tračne žage z avtomatskim podajanjem : diplomsko delo
Nino Frumen, 2024, undergraduate thesis

Abstract: V diplomskem delu je predstavljena posodobitev tračne žage z avtomatskim podajalnikom. Predstavljene so vse komponente, ki jih je bilo potrebno zamenjati, potek izdelave novega komandnega pulta in ustreznih nosilcev komponent. Prav tako je predstavljeno ponovno elektro ožičenje vseh komponent in izdelava novega elektro načrta v programu Eplan. Predstavljena pa je tudi izdelava novega HMI zaslona v programu TIA Portal in uporabnost programa optiCutter v proizvodnji. Na koncu so zapisana navodila za uporabo žage. Cilj diplomske naloge je bilo zagotoviti natančno delovanje žage in posledično hitrejše ter kvalitetnejše razrezovanje v proizvodnji.
Keywords: Eplan, elektro vezava, TIA portal, tračna žaga, avtomatski podajalnik
Published in DKUM: 15.01.2025; Views: 0; Downloads: 46
.pdf Full text (6,64 MB)

8.
Razvoj in izdelava vizualizacije za precizno pozicioniranje pnevmatskega valja
Rok Pulko, 2024, master's thesis

Abstract: V sklopu magistrske naloge smo razvili in izdelali vizualizacijo za precizno pozicioniranje pnevmatskega valja. Servo-pnevmatski pozicionirni sistem, katerega ključna sestavna dela sta servo-pnevmatski ventil Enfield S2 in senzorska letev SICK, omogoča natančno pozicioniranje bata na določeni točki vzdolž cilindra. Sistem smo krmilili preko programskega vmesnika S2 Configuration Interface, preko potenciometra v ročnem načinu in preko industrijskega krmilnika Siemens S7-1200 v avtomatskem načinu. V programskem okolju TIA Portal smo izdelali krmilne programe za različne načine delovanja. Glede na krmilne programe oz. načine delovanja smo izdelali vizualizacijo z uporabo Siemens HMI. Nastavitve željene in dejanske pozicije ter točnost bata smo primerjali z ustreznimi funkcijami na HMI zaslonu. Za posamezen krmilni program smo izdelali ustrezno tehnološko dokumentacijo.
Keywords: Vizualizacija, Siemens, HMI, pozicioniranje
Published in DKUM: 23.12.2024; Views: 0; Downloads: 51
.pdf Full text (4,44 MB)

9.
Toward optimal robot machining considering the workpiece surface geometry in a task-oriented approach
Aleš Hace, 2024, original scientific article

Abstract: Robot workpiece machining is interesting in industry as it offers some advantages, such as higher flexibility in comparison with the conventional approach based on CNC technology. However, in recent years, we have been facing a strong progressive shift to custom-based manufacturing and low-volume/high-mix production, which require a novel approach to automation via the employment of collaborative robotics. However, collaborative robots feature only limited motion capability to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the workpiece surface constraint in the robot kinematic analysis, which enables an evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot’s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.periments.
Keywords: robotics, automation, robot machining, workpiece surface polishing, collaborative robot, manipulability, complex surface geometry, motion planning
Published in DKUM: 25.11.2024; Views: 0; Downloads: 0

10.
Region-based approach for machining time improvement in robot surface finishing
Tomaž Pušnik, Aleš Hace, 2024, original scientific article

Abstract: Traditionally, in robotic surface finishing, the entire workpiece is processed at a uniform speed, predetermined by the operator, which does not account for variations in the machinability across different regions of the workpiece. This conventional approach often leads to inefficiencies, especially given the diverse geometrical characteristics of workpieces that could potentially allow for different machining speeds. Our study introduces a region-based approach, which improves surface finishing machining time by allowing variable speeds and directions tailored to each region’s specific characteristics. This method leverages a task-oriented strategy integrating robot kinematics and workpiece surface geometry, subdivided by the clustering algorithm. Subsequently, methods for optimization algorithms were developed to calculate each region’s optimal machining speeds and directions. The efficacy of this approach was validated through numerical results on two distinct workpieces, demonstrating significant improvements in machining times. The region-based approach yielded up to a 37% reduction in machining time compared to traditional single-direction machining. Further enhancements were achieved by optimizing the workpiece positioning, which, in our case, added up to an additional 16% improvement from the initial position. Validation processes were conducted to ensure the collaborative robot’s joint velocities remained within safe operational limits while executing the region-based surface finishing strategy.
Keywords: robot surface finishing, collaborative robot, region-based machining, workpiece optimization, clustering, task-oriented machining, machining time optimization
Published in DKUM: 25.11.2024; Views: 0; Downloads: 21
.pdf Full text (20,89 MB)

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