Systém pro condition monitoring průmyslových robotických ramen na bázi vibrodiagnostiky

Abstract

This thesis focuses on the vibrodiagnostics solution for the 6-axis industrial robot of KUKA Agilus series. The measurement system is based on a Raspberry Pi 4 single board computer, augmented with a Digilent two-channel IEPE HAT MCC172, communicating via a 40-pin connector. The theoretical part discusses the history and development of industrial arms. It also discusses vibration diagnostics and their capabilities, analysis and design of the data acquisition system. The following practical part includes the implementation of measurement and data acquisition on a robotic workstation located in the CPIT TL3 building. At the end of this work, the measured dataset is analyzed and the results are plotted in graphs for easier presentation.