Automated Reconfiguration of a 3D Model of a Robotic Workplace

Diplomová práce se zabývá návrhem rekonfigurovatelného robotizovaného pracoviště. V úvodu je rozebrána problematika postupu návrhu robotizovaného pracoviště. Analýza se zaměřuje na nástroje pro automatizaci návrhu 3D modelu a podpory API v CAD softwarech. Dále jsou uvedeny možnosti práce s rozhraním API softwaru SOLIDWORKS. Poté jsou v práci uvedeny požadavky na rekonfigurovatelné robotizované pracoviště. V rámci práce jsem pak vytvořil makro v CAD softwaru SOLIDWORKS, které vkládá, upravuje a ovládá modely vkládané do modelu pracoviště. Je zde uveden popis, jak se s navrženým makrem pracuje, popis jeho implementace a možnosti práce s vytvořenými modely. Jsou zde uvedena tři příkladná pracoviště, která vznikla pomocí vytvořeného makra. Závěr obsahuje zhodnocení a další možné směry, ve kterých se může uplatněná technologie použít. Součástí práce je i návod, jak tvořit a upravovat makra, která vznikla pomocí softwaru SOLIDWORKS.The thesis deals with the design of a reconfigurable robotic workplace. The introduction discusses the design process of a robotic workplace. The analysis focuses on tools for automating 3D model design and API support in CAD software. After that, there are options for working with the SOLIDWORKS software API. Then the requirements for a reconfigurable robotic workplace presented in the work. As a part of the thesis, I created a macro in the CAD software SOLIDWORKS, which inserts, edits and controls models inserted into the workplace. Then there is a description of how to work with the macro, how the macro is implemented and what are the options of work with the models created with it. The thesis also includes three examples of workplaces created with this macro. The conclusion contains an evaluation and other possible directions in which the applied technology can be used. The instructions on how to create and edit macros developed using the SOLIDWORKS software are also a part of this thesis.354 - Katedra robotikyvýborn

Design of Effectors for Laboratory Tasks on ABB Robots

Bakalářská práce se zabývá konstrukčním návrhem efektorů pro laboratorní úlohy na robotech ABB. V úvodu je provedena analýza současného stavu laboratorních úloh na robotech ABB v centru robotiky. Je vytvořen přehled stávajících efektorů a objektů manipulace. Jsou definovány požadavky na efektory pro jednotlivé roboty. Na základě předchozí analýzy a definovaných požadavků je vybrán robot, pro který je navržen efektor. Jsou navrženy varianty konstrukčního řešení efektoru. Pomocí vícekriteriální analýzy je vybrána nejvhodnější varianta. Vybraná varianta je podrobně zpracována, doložena technickou zprávou, podrobnými výpočty a úplnou výkresovou dokumentací. V závěru je zhodnocena navržená varianta a vypočteny výrobní náklady navrženého efektoru.This bachelor thesis deals with the construction design of effectors for laboratory tasks on ABB robots. In the introduction, an analysis of the current state of laboratory tasks performed on the ABB robots in the Centre of Robotics is executed, as is an overview of existing effectors and objects of manipulation. Requirements are defined for individual robots. Based on the previous analysis and requirements a robot is chosen. An effector is designed for this robot. Variants of construction design are proposed. Out of these variants, the most appropriate one will be chosen by multi-criterial analysis. The chosen variant is thoroughly handled and processed, backed up by a technical report, detailed calculations and a complete design documentation. The proposed variant is assessed in the conclusion, as are the production costs of the designed effector.354 - Katedra robotikyvýborn

Knowledge-based automated mechanical design of a robot manipulator

Design methods have been improving with an increasing level of algorithmic support for some time. The most recent advances include generative design and various optimization methods. However, the automated design tools are often focused on a single stage of the design process, for example, kinematics design, mechanical topology, or drive selection. In this paper, we show the whole design process of a robotic manipulator in an automated workflow. The method consisted of two main parts: a genetic optimization of the kinematic structure and an iterative automated CAD design. The method was then applied to a case study in which a manipulator with five degrees of freedom for a handling task was designed.Web of Science1212art. no. 589

Research and development of a software tool for parametric modeling of robotized workplaces

Designing a robotic workplace is a time and knowledge intensive process. It requires systems engineers who specialise in the design of this type of workplace and have the appropriate know-how in this area. Due to the time-consuming nature and the small number of experts, a small number of solution options are often created, from which the most suitable one is subsequently developed. The aim of the development was to create a tool that would simplify the design of robotic workplaces. The result is a software tool integrated into the SolidWorks CAD system. The tool uses a database of models. The connection between the developed software tool and the database is realized through the API of the SolidWorks CAD system. Thanks to this tool, it is possible to simplify and speed up the work of workplace design. More variant solutions can be developed and overall better results can be achieved.Web of Science20225683567

Automation of design of robotic arm

Robotic arms are complex mechatronic systems. Therefore, their design requires knowledge and experience from various technical fields, such as mechanics, electrical engineering, electronics or control. From the view of the requirements placed on developers, the design of robotic arms is one of the more complex tasks. Unfortunately, there is a lack of necessary specialists in this field of technology. Therefore, ways are sought to help existing specialists in their work and, simultaneously, reduce the time needed to design the required equipment. At the same time, there are also sought ways to open the way to this issue for developers who do not yet have enough experience.For this reason, algorithms and development tools have been developed to significantly simplify and reduce the time required to design robotic arms and simultaneously automate as much of this process as possible. The aim is to shorten the design time and achieve better results than in the case of designs according to classical procedures.Web of Science20225882587

Automation of partial tasks in the design of robotic arms

The design of robotic arms is a demanding process, especially in terms of the demands placed on developers' knowledge and experience and the time required for the design. Therefore, the development aimed to create procedures for possible automation of some of the individual tasks of the robotic arm design process, which are further applied in the development of a software tool for the automation of partial tasks in the design of robotic arms RobotDesigner. The benefits and functions of RobotDesigner are demonstrated in the example of optimization of a simple manipulator with 5 degrees of freedom for a given manipulation task. The optimization results show that the use of this software tool significantly speeds up and streamlines the sub-tasks of design and optimization of arms. By using iterative processes and artificial intelligence, using similar software tools and connecting them to CAD systems, it will not only be possible in the future to fully automate the robot arm design process but also to generate and compare different structures and design solutions to find the most optimal for the task, which the robot will perform.Web of Science20225521551

Finding the optimal pose of 2D LLT sensors to improve object pose estimation

In this paper, we examine a method for improving pose estimation by correctly positioning the sensors relative to the scanned object. Three objects made of different materials and using different manufacturing technologies were selected for the experiment. To collect input data for orientation estimation, a simulation environment was created where each object was scanned at different poses. A simulation model of the laser line triangulation sensor was created for scanning, and the optical surface properties of the scanned objects were set to simulate real scanning conditions. The simulation was verified on a real system using the UR10e robot to rotate and move the object. The presented results show that the simulation matches the real measurements and that the appropriate placement of the sensors has improved the orientation estimation.Web of Science224art. no. 153