Osjetljivo robotsko bušenje

Rorbach, Tomislav (2018) Osjetljivo robotsko bušenje. = Force sensitive robot drilling. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

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Abstract (Croatian)

U sklopu ovoga rada postavljen je i testiran u labaratorijskim uvijetima postav za osjetljivo robotsko bušenje. Postav se sastoji od nekoliko sustava: robotskog sustav Kuka Lightweight Robot LWR4+, sustava za očitanje sile i momenta ATI Net F/T sa mjernim osjetnikom „Gamma“, sustava namjenjenog za bušenje u medicini proizvođača Medtronic, te osobnog računala (PC-a). Na osobnome računalu programski jezik C++ (cpp) u sklopu programskoga paketa Microsoft Visual Studio 2010, simultano izvršavajući više programskih kodova (eng. multithreading) održava komunikacijske veze unutar postava, te PI regulator upravljačkom posmičnom brzinom svrdla održava silu pritiska svrdla tijekom bušenja konstantnom. Detekcija proboja bušenoga materijala odvija se izvršavanjem algoritma osjetljivoga na pad sile pritiska svrdla prilikom bušenja, na temelju postavljenih vrijednosnih pragova (eng. threshhold). Postav je testiran bušeći homogeni materijal (Al lim), umjetnu nehomogenu strukturu (Al lim – eps – Al lim), te teleću lopatičnu kost.

Abstract

Within this work, a predetermined robotic drilling pattern was set up and tested in laboratory conditions. The set consists of several systems: Lightweight Robot LWR4 + Robotic System, Network Force/Torque Sensor System with Gamma sensor, Medtronic Drill System, and personal computer (PC). On a personal computer, C ++ (cpp) programming language within the Microsoft Visual Studio 2010 program package, simultaneously executing multiple program codes (multithreading), maintains communication within the setup, and the PI controller with feed rate maintains the force of the drill bit during drilling constant. Detection of breakthrough is performed by performing a drilling bit-sensitive thrust force algorithm based on the set threshold. The installation was tested by drilling a homogeneous material (Al sheet), an artificial inhomogeneous structure (Al sheet - eps - Al sheet), and a calf bone.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: nehomogeni materijali, bušenje, regulacija, senzor sile i momenta
Keywords (Croatian): inhomogeneous materials, drilling, control, force and torque sensor
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 23 May 2018 10:07
Last Modified: 24 May 2018 15:52
URI: http://repozitorij.fsb.hr/id/eprint/8577

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