Návrh a realizace modelu robotu pro ověření jakosti průmyslového řídicího systému

Abstract

This thesis deals with the comparison of quality parameters of three control methods on a designed palletizing robot made by 3D printing. The theoretical design of the system first deals with serial kinematics and its properties, then continues with the research of B&R control systems focused mainly on the selection of suitable components for the entire palletizing robot system and ends with control quality parameters according to ČSN EN ISO 9283. Practical design deals with the proces of making palletizing robot components in SW Fusion 360 and their realization by a 3D printer Prusa i3 MK3S. The robot is controlled in three ways, without acceeration limitation by RAMP mode, with acceleration limitation without interpolation of axis position by the Motorky library and advanced control using B&R technology with interpolation of axis position by SW package mapp Motion, which newly supports stepper motors from version 5.9. The measurement of the quality of individual controls deals with the collection and evaluation of data from measuring the repeatability of the position of the robot effector, changes in acceleration during the robot motion cycle, temperature of axis motors during robot heating cycle, temperature of axis motors during cyclic robot movement and also time duration of each individual cycle. In the end, the design process is evaluated from the beginning to the resulting measured data. It should be noted that the assembled system is the first palletizing robot with stepper motors controlled by the mapp Motion package from B&R