Využití modulů CMS pro diagnostiku robotických pracovišť

Abstract

This thesis focuses on the measurement of industrial robot vibration using the CMS module from Siemens, which has so far been used in industry only for measuring vibration of electric motors. The theoretical part of this thesis deals with general principles and possibilities of vibration measurement, current diagnostics of the technical condition of an industrial robot and possibilities of processing vibration diagnostic signals using programmable automata. The following practical part deals with the design of an experiment, which is aimed at obtaining characteristic vibration values of an industrial robot using data from the CMS module. This design of measuring is then implemented on a new industrial robot, KUKA Agilius, and a previously used collaborative robot, UR5, from Universal Robots. At the end of this work, these measured characteristic values are then processed into graphs for easier interpretation of the results and the maximum vibration values are determined.