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165 Uppsatser om Robot - Sida 1 av 11

Sensorsystem till hinderhanterande robot

The projects goal is to construct and program a Robot that is controlled from a computer but also have an obstacle handling function that allows the Robot to navigate around the object by itself.The Robot is a simple construction and the number of components and functions is kept at a minimum. A tricycle construction was chosen because it?s the simplest. Communication between the Robot and the computer also kept as simple as possible..

Konstruktion av tvåhjulig balanserande robot

This report discusses the development of an autonomous system that can travel a distance of atleast 30 meters on two wheels. The system, the Robot, detects black lines and stops if one isdetected. A remote control can be used to start and stop the Robot. The Robot is constructed ofmainly steel with smaller, more detailed, parts in plastic. A significant amout of time has beenused to enable the Robot to balance on its own.

Identifiering av stelkroppsmodell för industrirobot

In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial Robot, using measured torques and joint angles. A dynamic model of the first three joints of the Robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial Robot, and one of them yields good identification results..

Förbättring av utnyttjandegrad i robotcell

When a company in the manufactory industry makes costly investments, it's important that these are used as much as possible. The company in this case claims that their invested Robot cell, with CNC machine isn't used enough. The questions here are: How can we improve the use of the Robot cell? Which products are appropriate for the production in the Robot cell? As a method to come to a conclusion, an analysis has been made over the manufactured products. And also interviews with machine operators and the production management.

Assistansrobot "Slangaren"

This project is a step towards automatic firefighting. The goal is to decrease the number of personal injuries by replacing the human firefighter with Robots or similar technical tools. Especially in very hostile environments due to risk of explosions or building collapse. A Robot is easy to replace and can be maneuvered from a safe distance. The idea of the project comes from the company Drones Networking which aims for developing a totally autonomous firefighting system.

Åtkomststudie för robotiserad svetsning av flygmotordetalj

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.

Automobike: en cykel med aktiv balans

During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out agroup project in the field of mechatronics as part of the thesis for the bachelor degree. The resultwas a Robot with active balancing and the purpose of this report is to describe the development,manufacturing and problems that arose during the project. The finished Robot has two wheelsmounted in line with each other, like a bicycle. Measurement data from an accelerometer and agyroscope are used together in a complementary filter for determining the angle from the verticalplane. For balancing, a PID controller was used to control the rotation of a reaction wheel, whenaccelerating causes a straightening torque.

Timing Grey: En självbalanserande robot med ultraljud och egenutvecklad hastighetsmätare

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.

Snedställningskrafters påverkan på prefabricerade pelar-balk stommar

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.

Konceptframtagning av pelletsförråd

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.

En studie av en industrirobots beteende vid borrning

In the assembly process of airframe structures there are many drilled holes and on some parts the holes are mainly drilled manually with pneumatic handheld drilling machines. During conventional drilling in metal, burrs appear. To remove these burrs the parts of the structure must be separated and deburred before they can be put together for fastening. This is a time consuming measure and therefore expensive. To facilitate this process and lower production costs some parts of the process needs to be automated.A part of this thesis was a project in co-operation with Saab, Novator, Specma Automation and the University of Linköping.

Omkonstruktion av treaxlig plockrobot och dess plockverktyg

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.

Cykeltidsoptimering av sjuaxligt robotsystem

This master thesis studies how much the cycle time, i.e. the time it takes for an industrial Robot to perform a given task, can be reduced if an extra degree of freedom (DOF) is added to the Robot system. The extra DOF consists of a linear track, which is supposed to be used in an optimal way. The problem has been studied using simulations in the Robot simulation tool RobotStudio. To be able to run an optimization in Matlab, with the RobotStudio simulation cycle time as the object function, communication between Matlab and RobotStudio has been set up with an interface written in Visual Basic.

Konceptstudie av en kompakt Picker robot

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.

Balanserande robot

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..

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