This thesis work includes studies and simulation how magnetization of the translator in a linear generator for wave power can be automated. The translator is the moving component in the generator that is "dressed" with permanent magnets. The translator is magnetized with rectangle-shaped permanent magnets that are today's strongest permanent magnet type of neodymium-iron-boron (NdFeB).Eight equivalent metal sheets are mounted around the translator. The plates have milled tracks where 106 permanent magnets per sheet are mounted. Today the assembling of the magnets is done by hand, which is a very tedious and time-consuming work.  This project presents investigations about the automation of the translator magnetization theoretically and simulation results are preformed in ABB's robot simulation software RobotStudio. Even robot-held tool was designed that enables the robot to be able to magnetize the translator in a simple manner.  The investment cost is roughly 1.5 million SEK. With an economic life-time of five years, the investment costs are estimated to 24000 SEK / month.  According to the calculations, this project is very motivated to implement, as it provides savings up to 17 000 SEK per translator which is 10.2 million SEK assuming that the robot cell is operating at full speed the whole year.According to this thesis work the result is a 4x9 meter cell with two Industrial robots of the type ABB IRB6650S.The cycle time to magnetize one translator was calculated to about 10 hours.This prototype of project can possibly be implemented in a full-scale production line and performed according to the calculations and simulations presented in the report. Further work is suggested to improve the tool.Lyssna .

This bachelor thesis describes the process of developing a two wheeled robot with activebalancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shallstop to stand still balancing. The workload in the group has been divided according to theprevious individual projects, which are attached. The design of the robot is inspired by theconcept of the Segway.

The aim of this thesis was to investigate if the robotized welding method FSW (Friction Stir Welding) could be applied for joining a rotating structure in an aero engine at Volvo Aero Corporation. FSW is expected to introduce less defects than today?s welding methods and could therefore be suitable for critical aero components. The material is the nickel based alloy Inconel 718, however a material experimentation is outside the scope of this report.The main goal of this study is to verify if the ESAB ROSIO robot based FSW-system has a suitable work space to be able to weld the rotating structure, and if the welding tool has accessibility to the joints. The FSW-process needs a rigid fixture, and a number of fix-ture concepts are presented based on a proposed weld sequence.

This thesis work resulted in a template for how the thermal spray process can be controlled through robot programs. The robots today and their programs need to be replaced, therefore a new structure which can be matched with the new robot systems is needed. The work is limited to only concern structured programming on the new robots on Thermal Spray Centre (TC) with the programming language Rapid. The basic data for the program was retrieved from interviews with concerned personnel at TC, from studies on process parameters for thermal spray and from existing specifications at Volvo Aero Corporation (VAC). The thesis work briefly describes the process thermal spray and the four methods used at VAC.

The purpose of this thesis is to investigate industrial branding, which as a relatively new concept, both for practioners as well as academia, comprises a less explored application of the brand concept. The theoretical background of the study consists of marketing theory concerning the brand concept, and theory concerning industrial marketing. The empirical foundation consists of case studies of four industrial companies, based on interviews with representatives from the companies. All four companies have engaged in activities which they themselves see as industrial branding. Initially, the study sets out to determine the occurence of industrial branding, according to this study?s definition, and continues to tentatively explore the implications of branding in an industrial context.

This thesis has treated a three-axis robot which task is to serve a larger test machine tomove the modules to be tested, from the storage to the test site. The robot is composed ofthree linear actuators; two standard components of ball screw type and a custom-builtactuator of trapezoidal type. The work has mainly focused on the custom-built device to seeif it could be replaced with a standard component. Part of the work has been to look into thepicking tool and to see if there are any possibilities to improve its function.The report presents two different proposals which I decided to call Robot 1 and Robot 2 andthey aim to address the problems arising in the purpose-built linear unit and the X-axislinearity problems. Robot 1 focuses on eliminating the problems that arise around therobot's X-axis, with such simple means as possible and without making excessive materialchanges.

Picker robots are often mounted close to each other above a conveyor belt. To be able topack robots even closer, it is desirable to reduce the footprint of the robot?s base. One way toachieve this is to skew the arms of the robot which makes it possible to move them closer toeach other.This Master Thesis has been carried out at ABB Corporate Research. The purpose is toevaluate the benefits and drawbacks for the idea of making today?s Picker robot morecompact by skewing the arms.

Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan.Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor..

This thesis work resulted in a template for how the thermal spray process can be controlled through robot programs. The robots today and their programs need to be replaced, therefore a new structure which can be matched with the new robot systems is needed. The work is limited to only concern structured programming on the new robots on Thermal Spray Centre (TC) with the programming language Rapid. The basic data for the program was retrieved from interviews with concerned personnel at TC, from studies on process parameters for thermal spray and from existing specifications at Volvo Aero Corporation (VAC). The thesis work briefly describes the process thermal spray and the four methods used at VAC.

To make wave power more competitive on the market Uppsala University leads projects that examine how to accomplish better efficiency in the production. One of these projects is described in this report and examines whether it is possible to make the production of dovetails more efficient by using an industry robot of type ABB IRB6000 S3 M91. This project is using an already presented working method, from a previous project, which involves that the robot picks up the dovetail and moves against fixed cutting machines where the dovetail will be drilled, threaded and milled. Drilling and threading are the sub operations that will be examined in this project where experiments are made with the presented working method and with equipment from Uppsala University.Experiments show whether it is possible to drill the holes in the dovetail within specifications by using the specific robot and the presented working method. The threading operation is examined theoretically if it is possible to accomplish by using the same working method.

ITT Water & Wastewater ställer höga krav på kostnadseffektiv produktion vilket är en starkt bidragande orsak till att företaget är världsledande på sin marknad. För att erhålla kostnadseffektiv produktion har kombinationen människa robot visat sig vara framgångsrik.Examensarbetets syfte var att ta fram underlag åt ITT Water & Wastewater för att ta beslut om frigörande av indirekt personal vid line 15:s isoleringsstation på Elmotorverkstaden. Syftets uppfyllande stöttades av de underbyggande syftena att försöka höja robotens utnyttjandegrad samt reducera isoleringsmaskinens omställningstid.Arbetet bygger på kvalitativa och kvantitativa data i form av mätningar, intervjuer och egna observationer. Med stöd av erhållen data lyftes fyra olika förslag fram. Förslagen understryktes bland annat av integrering av arbetsmoment, förhöjd automatiseringsgrad och outsourcing..

This bachelor thesis describes the process of developing a two wheeled robot with activebalancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shallstop to stand still balancing. The workload in the group has been divided according to theprevious individual projects, which are attached. The design of the robot is inspired by theconcept of the Segway.

This thesis has treated a three-axis robot which task is to serve a larger test machine tomove the modules to be tested, from the storage to the test site. The robot is composed ofthree linear actuators; two standard components of ball screw type and a custom-builtactuator of trapezoidal type. The work has mainly focused on the custom-built device to seeif it could be replaced with a standard component. Part of the work has been to look into thepicking tool and to see if there are any possibilities to improve its function.The report presents two different proposals which I decided to call Robot 1 and Robot 2 andthey aim to address the problems arising in the purpose-built linear unit and the X-axislinearity problems. Robot 1 focuses on eliminating the problems that arise around therobot's X-axis, with such simple means as possible and without making excessive materialchanges.

In industrial control systems PID-control remains the prevalent strategy, also for processes that would benefit from model based control. The purpose of this thesis is to evaluate whether model based control can be readily implemented in an industrial control system. To this end a simulated surge tank with a simulated industrial control system is studied. For evaluation two scenarios with specified objectives are selected.Following a review of LQR and versions of MPC, Predictive Functional Control (PFC) is considered the most suitable for implementation. PFC is a form of MPC developed with industrial applications in mind and therefore has several advantages for implementation in an industrial control system.

This field study examined how elderly and cognitively disabled people used and experienced a social companion robot. The following pages explores the questions: Which are the physical, social and affective qualities during the interaction? The aim was to through observations see how qualities of interaction could activate different forms of behavior. The results show that motion, sound and the eyes together created communicative and emotional changes for users who felt joy and were willing to share the activity with others. The robot stimulated to some extent users to create their own imaginative experiences but often failed to involve user or group for a long time and was also considered too large and heavy to handle..