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1
Vrána, Vojtěch. „Návrh robotické buňky pro obsluhu tryskače pro čištění odlitků“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444305.
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The main goal of this master’s thesis is to create a design of robotic cell for operating of blasting machine. Operation of blasting machine consists of robotic manipulation of aluminium castings from input container to the blasting machine conveyor. After blasting operation aluminium castings are manipulated by robot from conveyor to output container. The part of the master's thesis is proposal of several variants of solution of design of robotic cell. Afterwards the best option is selected. The thesis also deals with design and selection of functional components in robotic cell. Functional verification of robotic cell is made in software Tecnomatix Process Simulate. Technical-economics evaluation is also part of this master’s thesis.
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Gohil, Kuldeepsinh. „Verification and Visualization of Safe Human Robot Collaboration for Robotic Cell“. Thesis, Högskolan Väst, Avdelningen för Industriell ekonomi, Elektro- och Maskinteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-12798.
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Robotics and Automation field is booming in today´s scenario. Researchers and Technologist comes up with new ideas in the robotics field to achieve a higher productivity, flexibility and efficiency. To achieve the above goals, it shall be required that human and robot share their work space with each other and works in a collaborative nature. Safety is a main concern and in focus. Robot should not injure the operator in any way during working in robotic cell. In this master thesis main focus is to create a various test plans and validate them to ensure the safety level in robotic cell. The test plan should be validated in a real robot environment. The test plans consist of functional and individual verification of safety devices which are being used in a robotic cell at PTC which is known as smart automation lab. Apart from that it includes design simulation of robotic cells with manikins to ensure validation of safety in virtual environment. Design simulation of robotic cell with manikins are created in RobotStudio 6.06. However, smart components, trap routines, SafeMove and offline program in RAPID have been created. Various test results are incorporated in the results section to ensure the verification and validation of safe human robot collaboration of virtual environment in RobotStudio 6.06.
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Hoplíček, Štěpán. „Návrh robotické buňky pro manipulační operace“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382118.
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This Master´s thesis deals with the design of a robotic cell for manipulation operations. By two robots are performed manipulation operations with a product between turntable, station with a pulsed fiber laser, label printer with applicator and conveyor belt. Further, the thesis describes the selection process of each device of the robotic cell, the design of an end effector and a fixture. The robotic cell is designed in compliance with the safety standards. The aim of this thesis is to design the robotic cell, which meets the requirement for a given cycle time. The cycle time is determined using a simulation model of the robotic cell created in PLM software Siemens Process Simulate.
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Ames, Zegarra Carolina, und Ananthan Indukaladharan. „Simulation of Assembly cell : Simulation based evaluation of automation solutions in an assembly cell“. Thesis, Jönköping University, JTH, Industriell produktutveckling, produktion och design, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-53862.
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Purpose:The primary purpose of the current thesis is to develop a virtual model using discrete event simulation (DES), which aims at supporting the decision-making process regarding automation solution proposals for SMEs. Method:The research approach is positivism, and it considers quantitative and empirical information. A literature search is conducted to generate a base for obtaining the theory required for the current report to answer the research questions. This search included the trace of relevant and reviewed topics regarding automation, discrete event simulation, and production lines. Then, a scenario simulation is designed and studied based on empiric knowledge and how automation would affect it, followed by a collection of information from the simulation iterations. Findings& Analysis: Two scenarios are presented. One with a fully manually operated assembly line consisting of only human operators and a second scenario, a semi-automated assembly line that includes some robots in specific areas doing specific operations. The two scenarios are simulated to check to what extend the KPI’s and parameters improved between each scenario. The experiment result concludes that by introducing automation elements in the production line, there is an increase in the overall efficiency, throughput rate, and a considerable gap against humans in WIP. Conclusions and recommendations: The results obtained from the experimentation in discrete event simulation software and study from previous research show that discrete event simulation has a significant contribution when considering a decision-making tool's role. Since it allows to understand and study the specific scenario by imitation and try different solutions in the same production system, it also allows studying several indicators from the scenarios to be checked to what extent they could be improved. Delimitations: The current thesis includes several delimitations. First, it focuses only on an operational level. Also, this study consists of a specific type of product with many variants, and finally, there are only two scenarios studied: a fully manual scenario and a semi-automated scenario with the presence of robots.
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Lukačovič, Peter. „Návrh robotické buňky pro svařování a manipulaci“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382111.
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The purpose of this master’s thesis is a design of the robotic cell for spot welding followed by manipulation with parts assigned for automotive industry. The cell should consist of a rotary table operated by a process operator and set of six-axis robots for spot welding and manipulation with parts. The thesis also describes the design of the end effectors of all robots, the design of rotary table with regard to welding technology and configuration of the cell to obtain maximal efficiency. The output of the thesis is 3D model, workflow simulation, evaluation of the production times and operator work conditions.
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Kaňa, Vojtěch. „Návrh robotické buňky pro bodové svařování“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400978.
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The aim of this thesis was to design a robotic cell for spot welding of seat reinforcement and the subsequent automatic transport of the part from the cell. Both construction plan and process simulation in Process Simulate should be performed there. It is therefore an application for the automotive industry. The cell consists of a device into which the operator places the parts and is placed on the designed turntable. The welding is performed by two Kuka robots and welding tongs attached to them. The thesis deals with the design of the structure and the choice of individual components, as well as their appropriate deployment in the cell. Along with the design of the cell, the simulation was processed in the software. The output of the thesis is a 3D model of the workplace, simulation of the whole process of welding and manipulation and evaluation of the cell cycle using the RCS module.
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Mrkva, Tomáš. „Simulační studie výrobní linky s průmyslovými roboty“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417546.
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This diploma thesis deals with the design of a robotic workplace for deburring of a given part. The robot's task is to remove the machined part from the production machine, create a blank workpiece ready for machining, and finally deburr the the machined part. There are several proposals for the layout of the robotic cell, as well as the design of the end effector, the input tray for semi-finished products and a stand with tools for deburring. Subsequently, a simulation model of the designed robotic cell is created in the Siemens Process Simulate software. Using RSC modules, the exact resulting cell clock is determined. The whole process of creating a simulation model is detaily described. At the end of this thesis is an economic evaluation of the proposed solution.
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Kubovčík, Peter. „Návrh robotického pracoviště pro automatické zakládání termostatických hlavic“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-401005.
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The objective of this master thesis is to design a robotic work cell for automated insertion of thermostatic heads. The proposed design was based on the comprehensive analysis of the current workplace. By taking the demands of the company and customer into consideration, several possibilities of the robotic work cell design were proposed, from which the most suitable one was chosen and carefully elaborated. During the process of designing, several safety standards had to be taken into consideration in order to mitigate risks. For that purpose, a risk analysis was conducted as well. Using the Siemens Process Simulate software, the proposed robotic work cell concept was verified, including cycle time analysis. The last part of the thesis is an assessment of the initial expenditures of the robotic work cell equipment, as well as the return of the investment calculation. Drawing of the robotic work cell layout is attached to the thesis.
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Šváček, Jiří. „Simulační studie robotické linky pro obsluhu obráběcího stroje pro velkosériovou výrobu“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417748.
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The thesis deals with design of robotic cell for operation with CNC machine. When CNC machine is machining, inactive robot is used for deburring specific edges on the workpiece with help of pneumatic spindles. Thesis include design of end-effectors for handling and deburring operations, design and placement of individual parts of robotic cell. Part of the thesis deals with safety of the cell. Next part of thesis is focus on finding out cycle time of the robot. Robot have to manage cooperate with CNC machine and deburr edges in time. Cycle time is find out at simulation study in software called Tecnomatix Process Simulate. On the end of thesis is technical-economics evaluation
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Majer, Tomáš. „Návrh pracoviště s průmyslovým robotem“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382109.
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This diploma thesis deals with design of a robotized workplace for welding truss structures. First, the target construction that the work focuses on is shown. Then the functions of the entire workplace are designed, including the procedures for activities and the gross displacement of the used components and their layout. The next chapter itemize specific robots and components. This, along with the solution of safety and ergonomics, makes the layout of the entire workplace more precise. Everything is completed by creating a simulation model in Siemens Tecnomatix Process Simulate, where all the welding operations are simulated.
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Brusén, Niklas, und Jon Kristoffersson. „Automated Production of Air to Air Heat Exchangers : Robot Cell Design and Simulation“. Thesis, Uppsala universitet, Industriell teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326182.
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The aim of this thesis was to describe how a manual assembly process of polycarbonate sheets for heat exchangers can be automated with an industrial robot. The objectives were to design suitable robot cell concepts and simulate them to describe how the automated process could be done and to present which machines and equipment that could be used. Additionally, productivity rates and investment costs was to be calculated.The project started with a situation assessment and a literature review. Experts and suppliers of robotic equipment were consulted, and the results served as a basis for the concept generation process. Several concept ideas were evaluated, and three ideas using adhesive for the assembly were chosen for further studies and simulation. Existing products and machines were used in the designs when possible. By modeling and simulating the cells in simulation software, feasible cell designs was created, and cycle times were measured.The three proposed solutions all utilize an industrial robot, a vacuum gripper and adhesive as the assembly method. Two of the concepts has the robot attending different adhesive dispensing machines; one gantry and one conveyor. In the third concept, the robot applies the adhesive. The cell design that achieved the lowest cycle time in the simulations was the conveyor concept, with a cycle time of 21 seconds per sheet. The conclusion of the study is that investing in a robot cell would increase productivity.Syftet med detta arbete var att designa en robotcell anpassad för tillverkning av värmeväxlarpaket i moduler. Målet var att besvara hur tillverkningen av värmeväxlare kan automatiseras samt vilken robot och övriga verktyg och maskiner som kan användas. Vidare skulle den möjliga produktionstakten och investeringskostnaden för designförslagen beräknas. Arbetet inleddes med en nulägesanalys och en litteraturstudie. Ett flertal experter och leverantörer inom automationsområdet konsulterades. Resultaten från detta låg till grund för en konceptgenereringsprocess i vilken ett flertal designidéer togs fram. Tre av dessa designförslag valdes ut för vidare studier och simulering. Genom att modellera och simulera robotcellerna kunde de utformas realistiskt och möjliga cykeltider beräknas. De tre designförslagen använder alla en robotarm, ett vakuumgripdon samt lim som metod för monteringen. Två av koncepten består av en medelstor robotarm som betjänar en limappliceringsmaskin. I ena konceptet är det en kartesisk robot med limbord som används för limappliceringen, i det andra är det ett transportband som för plastskivan under ett antal limpistoler. Det tredje designförslaget låter en större robot, utrustad med verktygsväxlare, utföra alla moment i processen genom att den byter verktyg mellan vakuumgripdon och limpistol. Det koncept som uppnådde den lägsta cykeltiden i simuleringarna var lösningen med rullbandet, med en cykeltid på 21 sekunder per skiva. Studiens slutsats är att en investering i en robotcell skulle leda till ökad produktivitet jämfört med manuell produktion.
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Srdošová, Michaela. „Návrh robotické buňky pro manipulační operace“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400982.
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This Master`s thesis deals automation of the workplace for manipulation operations. Robot’s role is take cooler from case, insert them into the dimensional and tightness device and then robot must place cooler on the output conveyor in robotic cell. The thesis describe deployment working cell, the selection and design process of each device and the robotic cell is designed with the safety standards. On the end in this thesis is a technical-economics evaluation. The simulation model in Process Simulate is a aim of this thesis, because we know working cycle time from this model.
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Binnberg, Dennis, und Viktor Johansson. „Virtual Commissioning : Emulation of a production cell“. Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-12999.
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Volvo is continually updating and replacing their equipment and want to investigate the possibility to shorten the time it takes to implement changes and shorten the time in commissioning projects. The use of an emulation model of a production cell can shorten the commissioning time since the equipment and sequence of the cell can be thoroughly tested before implementation. Volvo also wants to investigate the possibility to validate equipment using emulation. The main objectives are to find an emulation software that suits Volvo’s needs and build an emulation model of an actual production cell at Volvo called G750. A literature review was performed in which the authors gained knowledge about virtual commissioning, simulation and emulation and the usage of these. A market survey was conducted in order to find emulation software that could handle Volvo’s complex production equipment consisting of ABB robots and Siemens PLC. A method for building emulation models of existing production equipment was found during the literature review. The software used to build the emulation model was Simumatik3D. Other software used to make the model as realistic as possible includes RobotStudio, WinCC and PLCSIM. The emulation model handles approximately 350 inputs and outputs. When the emulation model was finished experiments were conducted in order to answer research questions and to reach the main objectives. The experiments validate that the emulation model is representative of the real production cell regarding programming, fail scenarios and movement.
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Sobotka, Tomáš. „Návrh pracoviště s průmyslovým robotem“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-379010.
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Design of robotic cell for welding operations at specific production part including unchangeable process technology. Design of subsystems provides required functions and abilities. Risk management of entire model and its transformation into Siemens Process Simulate simulation software including creation task-cycle simulation.
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Pátek, Václav. „Návrh robotického pracoviště pro laserové značení automotive komponent“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444303.
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This diploma thesis is focused on the design of a robotic workstation for laser marking of aluminium hinges for the automotive industry. Robots remove wheel hinges from palettes at the end of a preassembly line, mark them a sort them. At first, selected marking technologies used in the automotive industry are introduced. Afterwards, a few robot and process simulation software are described. Subsequently, several layout variants are created as viable options for process handling and the chosen variant is designed in detail. Using RobotStudio software, a simulation of the robotic marking cell is made for process verification. Finally, a technical - economic evaluation is performed.
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Kljajič, Marko. „Simulační studie robotické linky pro obsluhu obráběcího stroje a realizaci dokončovacích operací“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417547.
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The aim of the thesis is conceptual design of robotic workplace with its subsequent simulation. The current workplace for manufacturing and deburring parts for automotive industry is operated manually. The plan is overall automation and replacement of operators by robots. The thesis deals with the concept of layout of elements in the cell, and the procedure of their selection or design. Process simulation is performed in the Process Simulate software from Siemens. For the purposes of the work is used RCS module, which on the basis of dynamic conditions can calculate the cycle of production very close to the reality. The production cycle is compared to the current workplace. The work also deals with the economic evaluation of the proposed workplace.
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Novák, Adam. „Návrh robotické buňky pro depaletizaci a založení railu do výrobní stanice“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-402640.
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The diploma thesis dealswith a design of a robotic cell for depalletization and the establishment of a rail into a production station. Pieces are weighed into the depalletizing unit in a shape-adapted crates otherwise known as blisters. Each blister contains five to eight pieces(depending on the type of a rail) and anti-corrosion paper. After removing the paper and the piece from the blister, an identification code is stamped on the piece. Then the finished piece travels to the next station. The aim of this thesis is to design arobotic cell that can handle all operations in a given cycle time and to create a simulation model in Siemens Process Simulate program to verify the cell functionality.
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Závodský, Martin. „Návrh robotické buňky pro výrobu plošných dílů“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443246.
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This master’s thesis deals with the design of a robotic cell for the automation of woodworking machine tending. The task of the robot is to manipulate with the specified laminated chipboards of various sizes, before and after machining. The boards are brought to the cell on pallets in three possible placement variants. After a brief research part, conceptual designs of cell layout were created. The optimal and further elaborated design came as a result of selected evaluation criteria. The next part of the thesis consists of designs and selection processes of individual components. These were later used to create a simulation model in Tecnomatix Process Simulate software (Siemens), that helped to verify the functionality of the cell layout, design the control logic and acquire the time of the manipulation cycle used for informative calculation of annual production. In the end, the final design was evaluated from an economic point of view with an emphasis on the return of the initial investment.
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Kysela, Martin. „Návrh robotické linky pro svařování ocelového rámu“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443245.
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The aim of this diploma thesis is to design a cell for robotic arc welding of steel frame. Three possible solutions are provided and one of them is to be chosen to work out. Construction designs of fixture, machine guarding and material racks were created and devices and components required for cell functionality were chosen. All of that with regard to the safety of workplace operators.The result is 3D model of welding cell, it´s implementation and virtual commissioning in the simulation software Process simulate. We will verify the weldability of assigned part, find out the production cycle, eliminate error and lastly the technical and economic evaluation will be work out.
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Andersson, Sabina. „Simulation challenges in robotic grasping“. Thesis, Umeå universitet, Institutionen för fysik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-186487.
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Grasping and dexterous manipulation is a huge area in the current robotic research field. Traditionally in industrial environments, robots are customized for a certain task and work well with repetitive movements where the entire process is predetermined and deterministic. The possibility for a robot to adapt to its surroundings and manipulate objects with unknown properties is very limited and requires new models and methods. It is advantageous to explore and test new algorithms and models in a simulated environment before building physical systems. This thesis focuses on making the development, design and control of dexterous robot hands easier by exploring the benefits and challenges to use simulation in Algoryx's physics engine AGX Dynamics for experimentation and evaluation of design, motion planning, contact models, geometry, etc. The goal is to simulate complex grasping situations in AGX Dynamics and to build knowledge about contact mechanics to fully capture the dynamics of grasping in simulation. The work consists of validating the simulation library with regards to fundamental physics characteristics involved in grasping by a series of benchmark tests. The validation process aims to verify the models and numerical methods in AGX Dynamics to ensure sim2real transfer. The work has exposed friction as one of the biggest challenges in simulation. Developments of the current friction models that better represent the reality have been implemented and tested in AGX. They both show promising results for further development.
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Williams, Manoleto Z. „Agent-based simulation of robotic systems“. Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Jun%5FWilliams.pdf.
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Thesis (M.S. in Modeling, Virtual Environments, and Simulation (MOVES))--Naval Postgraduate School, June 2003.Thesis advisor(s): Richard Harkins, John Hiles. Includes bibliographical references (p. 161-163). Also available online.
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Engström, Jesper, Elias Richloow und Anders Wickström. „Modeling of Robotic Hand for Dynamic Simulation“. Thesis, KTH, Maskinkonstruktion (Inst.), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-171991.
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KTHand is a robot hand designed within a doctoral thesis by Johan Tegin. KTHand is meant to be a simple construction, able to be produced for a low cost but still be functional thanks to feedback from tactile and position sensors. The mechanical construction of KTHand is based on three identical fingers, corresponding index finger, middle finger, and a thumb. Each finger consists of three movable links, called phalanges, connected by a leaf spring on the top. For the force actuation, a fishing line acting as a tendon is running through ducts in the phalanges. Each tendon is powered by a direct current motor in the hand, and this gives a finger three degrees of freedom (D.O.F.) with only one actuator, i.e. an under-actuated finger. To evaluate KTHand – simulations in the open-source software GraspIt! have been carried out. These simulations have been more or less successful, and a wish for simulation in another program has arisen. MSC ADAMS is a widely used and verified commercial program which is used for setting up advanced physical multibody simulations. ADAMS is fairly untested for the purpose of simulating robot hands and that is why it is of interest to see whether it is possible to successfully simulate the grasp dynamics of a robot hand, which is the topic for this thesis.As a starting point for the model design in ADAMS, a previously developed CAD model has been used since ADAMS provides the ability to import CAD files. To decrease the level of complexity, a number of simplifications have been done to the CAD model – unnecessary geometry such as screws and screw holes have been removed and curved lines in the geometry of the hand have been replaced by straight lines.After the simplified model was imported in ADAMS – joints, springs and contact conditions have been defined to obtain ranges of motion (R.O.M.) analogous to those of the physical prototype. To imitate the tendon which actuates a finger, a number of point forces have been defined. These point forces represent the reactive forces acting on the phalanges from the tendon. To perform a grasp simulation a number of different setups were used, each one with a different geometrical object to be grasped. Contact conditions between the hand and the objects were defined and the simulations were evaluated. The model can be used to simulate contact forces and how the hand interacts with different geometries. The conclusion of the simulations is that grasps based on shape give satisfying results while grasps based on friction force are of less accuracy. Friction conditions in ADAMS have turned out to be of low precision, and thus the grips based on friction become unrealistic.KTHand är en robothand utformad inom en doktorsavhandling av Johan Tegin. KTHand är tänkt att vara en enkel konstruktion som ska kunna tillverkas för en låg kostnad samtidigt som den ska vara funktionell tack vare återkoppling av taktila givare och positionsgivare. KTHands mekaniska konstruktion är baserad på tre identiska fingrar, motsvarande pekfinger, långfinger och tumme. Varje finger är uppbyggt av tre rörliga länkar sammanfogade av en bladfjäder på ovansidan. Kraftstyrningen i ett finger utgörs av en fiskelina som löper genom hela fingret och får sin kraft av en likströmsmotor i handen. Detta ger ett finger med tre frihetsgrader aktuerat av en motor, alltså ett underaktuerat finger. För att utvärdera KTHand har simuleringar utförts i programmet GraspIt!. Dessa simuleringar har givit blandade resultat varför en önskan om simulering i annat program har uppkommit. MSC ADAMS är ett utbrett och välverifierat kommersiellt program som möjliggör avancerade fysikaliska flerkroppssimuleringar. ADAMS är dock ett tämligen oprövat program för just robothandssimulering och därför är det av intresse att utreda huruvida en robothands greppdynamik framgångsrikt kan simuleras i ADAMS och detta är ämnet som behandlas i den här rapporten. Sedan tidigare finns en utförlig CAD-modell av KTHand och denna har använts som utgångspunkt för modelluppbyggandet i ADAMS eftersom CAD-modeller kan importeras i detta program. För att bland annat minska komplexitetsnivån har den existerande CAD-modellen kraftigt förenklats på så vis att all, för ADAMS-modellen, onödig geometri som t.ex. skruvar och skruvhål har tagits bort. Vidare har även geometrin förenklats genom att kurviga kantlinjer har ersatts av raka dito. I ADAMS har leder och fjädrar definierats, rörelsetvång har införts genom att upprätta kontaktvillkor och kraftstyrning har lösts genom att införa krafter representerande de reaktionskrafter som uppkommer inne i fingrarna från den genomlöpande ”senan”. För att sedan simulera grepp har geometriska objekt skapats i ADAMS varefter kontaktvillkor definierats. Modellen kan användas för att simulera kontaktkrafter och hur handen interagerar med föremål av olika geometri. Slutsatsen av dessa simuleringar är att formbaserade grepp ger mer tillförlitliga resultat än friktionsbaserade grepp. Friktionsvilkoren i ADAMS har visat sig vara mindre tillförlitliga och på så sätt är de grepp som är starkt beroende av friktion ej verklighetstrogna.
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Kiely, Daniel James. „Advancing surgical simulation in robotic gynecologic oncology“. Thesis, McGill University, 2014. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=122989.
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Objective: To advance robotic surgery simulation in gynecologic oncology by: (1) conducting a randomized controlled trial of a virtual reality, proficiency-based robotic simulation curriculum to teach robotic suturing and (2) developing an inanimate model for training in the procedure of robotic pelvic lymphadenectomy. Methods: (1) Residents and attending surgeons in surgical specialties were randomized to a proficiency-based virtual reality robotic simulation curriculum or usual clinical work over 5 weeks. Ability to perform robotic suturing of an inanimate model of the vaginal cuff with the actual da Vinci® robot was assessed at baseline and after the intervention period. (2) Using anatomic texts and virtual model of the anatomy of the human pelvis, an inanimate model for training in robotic pelvic lymphadenectomy was developed using low-cost materials. The model was robotically dissected by three gynecologic oncologists and two gynecologic oncology fellows all of whom rated the model post-dissection using a structured rating scale.Results: (1) As compared to controls, the training group showed a trend to greater improvement in ability to perform robotic suturing of an inanimate model of the vaginal cuff as assessed by a global rating scale and a statistically significantly greater improvement in total knots performed. (2) The pelvic lymphadenectomy model was rated favorably for both anatomic realism and potential as a training tool. Discussion: Participation in a virtual reality robotic surgery training curriculum shows a trend to improving ability to perform inanimate tasks with the actual da Vinci® robot, suggesting a translational benefit. A high fidelity training model of robotic pelvic lymphadenectomy has been developed using low-cost materials. Both projects help to advance surgical simulation in gynecologic oncology, the first at the level of basic task training and the second in advanced techniques.Objectifs: Améliorer la simulation chirurgicale en gynécologie oncologique par: (1) un essai randomisé contrôlé pour évaluer un curriculum de simulation en réalité virtuelle pour enseigner l'enseignement des sutures (2) développement d'un modèle anatomique pour simuler la technique de curage ganglionnaire pelvienne. Méthodes: (1) Résidents et chirurgiens étaient randomisés au curriculum d'entrainement en simulation robotique (réalité virtuelle) ou groupe témoin pendant 5 semaines. L'habileté à la suture robotique avec le da Vinci® pour faire la fermeture de la voûte vaginale était évaluée avant et après l'intervention. (2) En utilisant les livres anatomiques et un modèle virtuelle de l'anatomie du pelvis, un modèle inanimé pour l'entrainement en curage ganglionnaire par voie robotique a été créé. Le modèle était disséqué et par la suite évalué par trois gynécologues oncologues et deux fellows en gynécologie oncologie. Résultats: (1) Le groupe d'entrainement a mieux amélioré que le groupe témoin en le nombre total de noeuds fait et a montré une tendance à une plus grande amélioration en évaluation avec une échelle standardisé. (2) Le modèle de curage ganglionnaire pelvienne a eu des résultats favorables aux évaluations par les médecins qui ont fait la dissection. Discussion: L'essai randomisé démontre qu'il y a au moins une tendance pour l'entrainement en réalité virtuelle d'améliorer l'habileté de faire les exercices avec le robot da Vinci®. Un modèle de curage ganglionnaire pelvienne avec une fidélité élevée a été créé avec des bonnes évaluations. Les deux projets aident à avancer la simulation en gynécologie oncologie, le premier en technique de base et la deuxième en techniques avancées.
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Nandy, Shiddhartha. „Dynamic simulation model of a robotic manipulator“. Thesis, University of Newcastle Upon Tyne, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.318722.
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Wood, John Travis Ian. „Almeria-Mars: A web based robotic simulation“. CSUSB ScholarWorks, 2003. https://scholarworks.lib.csusb.edu/etd-project/33.
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McLachlan, Donald Stuart. „Flexible assembly cell manipulator“. Thesis, University of Hull, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.296278.
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Chang, Ta-Cheng. „Simulation Assisted Robotic Orthopedic Surgery in Femoroacetabular Impingement“. Scholarly Repository, 2011. http://scholarlyrepository.miami.edu/oa_dissertations/618.
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Femoroacetabular impingement (FAI) has been increasingly recognized as a cause of early hip osteoarthritis. FAI is characterized by pathologic contact between the femur and acetabular rim during hip join movement, caused by morphological abnormalities. Arthroscopic technique has become increasingly popular for FAI surgical treatment because of its minimal invasiveness. However, it involves cumbersome procedures and over- or under-resection are likely to occur. To tackle this issue, robot-assisted FAI arthroscopy is a well suited approach because it results in high accuracy and reproducible surgical outcomes. This dissertation provides new approaches and methods for the current challenges in the development of robot-assisted FAI arthroscopy. The study has three objectives: 1) to develop a robust calibration method for the A-mode ultrasound probe used for noninvasive bone registration, 2) to develop a bone registration simulator for verifying the registration accuracy and consistency for any given registration point-pattern, and 3) to develop a hip range of motion simulation system that returns the virtual range of motion and determines the bone resection volume. Carefully designed calibration procedures and simulation experiments have been conducted during the study of this research. From the experimental results, the developed ultrasound calibration method successfully reduces the registration errors and is proved to be robust. The results from the registration simulator indicate that the pattern with widely distributed points lead to better registration accuracy and consistency. The hip range of motion simulation system results in acceptable accuracy and successfully generates the resection volume. With further modifications, the ultrasound probe can be successfully calibrated with the developed method, and will be applied for noninvasive bone registration. The registration simulator can also be served as a useful tool for determining the optimized registration point-pattern, which can lead to reduced surgical trauma and registration time. Finally, the developed range of motion simulation system can allow the surgeon to evaluate the surgical outcome and to determine the resection volume even before the surgery begins. To conclude, this dissertation provides useful approaches, methods, and software for developing robot-assisted FAI arthroscopy.
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Shoaki, Salman Daif-Allah. „Generic robotic manufacturing systems : modelling/simulation and control“. Thesis, Imperial College London, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.390617.
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Meyen, Forrest Edward. „Engineering a robotic exoskeleton for space suit simulation“. Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85810.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 177-181).
Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.
by Forrest Edward Meyen.
S.M.
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Renner, Michael Robert. „Machine Learning Simulation: Torso Dynamics of Robotic Biped“. Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/34602.
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Military, Medical, Exploratory, and Commercial robots have much to gain from exchanging wheels for legs. However, the equations of motion of dynamic bipedal walker models are highly coupled and non-linear, making the selection of an appropriate control scheme difficult. A temporal difference reinforcement learning method known as Q-learning develops complex control policies through environmental exploration and exploitation. As a proof of concept, Q-learning was applied through simulation to a benchmark single pendulum swing-up/balance task; the value function was first approximated with a look-up table, and then an artificial neural network. We then applied Evolutionary Function Approximation for Reinforcement Learning to effectively control the swing-leg and torso of a 3 degree of freedom active dynamic bipedal walker in simulation. The model began each episode in a stationary vertical configuration. At each time-step the learning agent was rewarded for horizontal hip displacement scaled by torso altitude--which promoted faster walking while maintaining an upright posture--and one of six coupled torque activations were applied through two first-order filters. Over the course of 23 generations, an approximation of the value function was evolved which enabled walking at an average speed of 0.36 m/s. The agent oscillated the torso forward then backward at each step, driving the walker forward for forty-two steps in thirty seconds without falling over. This work represents the foundation for improvements in anthropomorphic bipedal robots, exoskeleton mechanisms to assist in walking, and smart prosthetics.Master of Science
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Lilly, Kathryn Weed. „Efficient dynamic simulation of multiple chain robotic systems /“. The Ohio State University, 1989. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487670346873809.
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Curran, John P. J. „A robotic cell for handling aerospace composite materials“. Thesis, Queen's University Belfast, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.328705.
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Wong, Pang Fei 1979. „Algorithms for efficient dynamics simulation of space robotic systems“. Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99548.
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The algorithms used for solving the forward dynamics problem of a complex multibody system are essential for an efficient simulation of robotic systems. The efficiency is measured by the CPU time and the number of operations per number of bodies in the system. In this work, we discuss the solution of the forward dynamics problem for real-time simulations of space robotic systems using the so-called Articulated Body Method. Traditional methods use the calculation of the inverse of the generalized mass matrix. This makes the required number of operations proportional to the cube of the number of bodies in the multibody system. For real-time simulations of complex systems, O(n) algorithms seem to be the best choice because the number of operations is linearly proportional to the number of bodies. They become more efficient than O( n3) algorithms as soon as the number of bodies in the system exceeds 12--14. In this thesis, we will present a detailed discussion of O(n) algorithms derived based on the Articulated Body Method (ABM). This algorithm can be presented using Lagrangian and Hamiltonian variables. Such algorithms can be used for the real-time simulation of robotic systems by taking into account both joint-flexibility and approximations for the gear-ratio effect. A unified derivation of the ABM algorithms using both Lagrangian and Hamiltonian variables will be discussed. The intended, primary application of the algorithms is to develop real-time simulation engines for the complete robotic system of the International Space Station. The implementation and use of these algorithms will be analyzed in detail.
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Wang, Zhifeng. „Robotic Manipulation of Deformable Linear Objects: Modelling and Simulation“. Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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With the development of materials science, deformable material objects are used in more andmore fields. Handling of deformable soft objects can be found in many industrial fields includingfood industry and recycle industry. But deformable objects are different from rigid objects. Thereis still room for development of material control, in which the use of computers to simulate controlplays an important role. In this thesis, a physical model of the cable is established based ongeometrically exact dynamic splines, and the simulink of matlab is used to develop the model ofthe cable to establish a control system. Under the action of this control system, the cable can reacha designated position and form the desired shape through a series of operations from the defaultposition and the straight starting state. In this process, the cable will contact the establishedobstacle model and will be affected by the interaction force provided by the obstacle model.At theend of the thesis, the simulation results are analyzed.
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Lancaster, Joseph Paul Jr. „Predicting the behavior of robotic swarms in discrete simulation“. Diss., Kansas State University, 2015. http://hdl.handle.net/2097/18980.
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Doctor of PhilosophyDepartment of Computing and Information Sciences
David Gustafson
We use probabilistic graphs to predict the location of swarms over 100 steps in simulations in grid worlds. One graph can be used to make predictions for worlds of different dimensions. The worlds are constructed from a single 5x5 square pattern, each square of which may be either unoccupied or occupied by an obstacle or a target. Simulated robots move through the worlds avoiding the obstacles and tagging the targets. The interactions between the robots and the robots and the environment lead to behavior that, even in deterministic simulations, can be difficult to anticipate. The graphs capture the local rate and direction of swarm movement through the pattern. The graphs are used to create a transition matrix, which along with an occupancy matrix, can be used to predict the occupancy in the patterns in the 100 steps using 100 matrix multiplications. In the future, the graphs could be used to predict the movement of physical swarms though patterned environments such as city blocks in applications such as disaster response search and rescue. The predictions could assist in the design and deployment of such swarms and help rule out undesirable behavior.
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Bartošek, Jindřich. „Design of a robotic cell for hydraulic pipes moulding“. Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228603.
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Předmětem této diplomové práce je návrh robotické buňky pro tvarování hydraulických trubek. Práce obsahuje analýzu technologie tvarování trubek a zdůvodnění potřeby automatizace celého procesu. Z návrhů jednotlivých konstrukčních uzlů byly vybrány nejvhodnější řešení a ty pak byly aplikovány při konstrukci buňky. Robotická buňka byla navržena s ohledem na bezpečnost provozu, funkčnost a jednoduchou ovladatelnost. Na závěr je vypracováno ekonomické zhodnocení projektu. K práci je přiložen návod pro ovládání, výkresová dokumentace, model buňky a výsledky simulace.
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Goguen, J. P. Thomas. „Vision-based parts fetching for a robotic assembly cell“. Thesis, University of Ottawa (Canada), 1988. http://hdl.handle.net/10393/5289.
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Chan, Seng-Kum. „Accuracy-speed relationships of a robotic filament winding cell“. Thesis, University of Ottawa (Canada), 1994. http://hdl.handle.net/10393/6653.
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This thesis describes the background research and the development of a robot based filament winding cell. The cell was implemented using an industrial robot (ASEA IRB 6/2) and an in-house mandrel drive mechanism, both being coordinated by a personal computer. Filament winding is a process in which continuous fibres are placed on a rotating mandrel to cover the entire surface, under controlled tension forming a composite component. Traditionally, filament winding is carried out on multi-axis numerically controlled lathe-like machines. There are two major parts in this research. The first part deals with the cell control structure theory and the second deals with the experimental validation of the control structure. Communication protocols, user interface software, control hardware specifications and procedures are elaborated in detail. To simplify the experimental work, a highly automated robotic control software program was written. This program reduces the complexities of operating the robot and ensures accurate repeatable results. The applications program was based upon an expert system approach. The factors studied were the speed versus the accuracy, the accuracy of the payout eye position, the effects of the segment's length and winding speed used for the approximation of the fibre path. Validation of the control theory is tested experimentally using a simple cylindrical mandrel in various configurations and an asymmetrical S-mandrel.
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Moutran, Serge Riad. „Feasible Workspace for Robotic Fiber Placement“. Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/32738.
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Online consolidation fiber placement is emerging as an automated manufacturing process for the fabrication of large composite material complex structures. While traditional composite manufacturing techniques limited the productsâ size, geometrical shapes and laminate patterns, robotic automation of the fiber placement process allows the manufacture of complex bodies with any desired surface pattern or towpregâ s direction. Therefore, a complete understanding of the robot kinematic capabilities should be made to accurately position the structureâ s substrate in the workcell and to compute the feasible product dimensions and sizes.
A Matlab algorithm is developed to verify the feasibility of straight-line trajectory paths and to locate all valid towpreg segments in the workspace, with no focus on optimization. The algorithm is applied preliminary to a three-link planar arm; and a 6-dof Merlin robot is subsequently considered to verify the towpreg layouts in the three-dimensional space. The workspace is represented by the longest feasible segments and plotted on parallel two-dimensional planes. The analysis is extended to locate valid square areas with predetermined dimensions. The fabrication of isotropic circular coupons is then tested with two different compaction heads. The results allow the formulation of a geometric correlation between the end-effector dimensional measures and the orientation of the end-effector with respect to the towpreg segments.Master of Science
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Cabrera, Pablo Marcelo. „Robotic Fabrication Workflows for Environmentally Driven Facades“. Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/92001.
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Even though computer simulation of environmental factors and manufacturing technologies have experienced a fast development, architectural workflows that can take advantage of the possibilities created by these developments have been left behind and architectural design processes have not evolved at the same rate. This research presents design to fabrication workflows that explore data driven design to improve performance of facades, implementing for this purpose computational tools to handle environmental data complexity and proposes robotic fabrication technologies to facilitate façade components fabrication.
During this research three design experiments were conducted that tested variations on the design to fabrication workflow, approaching the flow of information in top-down and bottom-up processes. Independent variables such as material, environmental conditions and structural behavior, are the framework in which workflow instances are generated based on dependent variables such as geometry, orientation and assembly logic. This research demonstrates the feasibility of a robotic based fabrication method informed by a multi-variable computational framework plus a simulation evaluator integrated into a design to fabrication workflow and put forward the discussion of a fully automated scenario.Master of Science
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Ren, Xiangyang [Verfasser]. „Contribution to Simulation of Robotic Belt Grinding Processes / Xiangyang Ren“. Aachen : Shaker, 2007. http://d-nb.info/1164340085/34.
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GUEDES, JULIO QUADRIO DE MOURA. „DESIGN,SIMULATION AND DEVELOPMENT OF A TENDON DRIVE ROBOTIC MANIPULATOR“. PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2010. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=16582@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROUm novo conceito de manipulador esta sendo estudado com o intuito de realizar tarefas inviáveis para manipuladores tradicionais. Este modelo de manipulador se baseia em manipuladores contínuos. Eles apresentam uma estrutura similar a uma coluna vertebral, são altamente modulares, leves, podem ser atuados remotamente e possuem alto índice de adaptabilidade com o ambiente. Este tipo de manipulador apresenta características interessantes para utilização em diversos tipos de tarefas, principalmente em inspeções em locais com muitos obstáculos e ambientes inóspitos para os seres humanos. Esta dissertação apresenta o desenvolvimento de um protótipo de manipulador contínuo atuado remotamente por tendões. Ele possui estrutura modular formado por vértebras ligadas serialmente. Inicialmente projetado através de ferramentas computacionais para em seguida ser construído fisicamente. São apresentados estudos cinemáticos e simulações com comparações entre a parte teórica e experimental. Por fim, é desenvolvida uma situação para simular a atuação do manipulador em uma tarefa real.
A new concept of robotic manipulator is studied to perform tasks not viable for traditional manipulators. This new model is based on a continuum manipulator. It has a structure similar to a backbone, it is highly modular, lightweight, it can be remotely actuated, and it has a high level of adaptability to the environment. This type of manipulator has interesting features for uses in various types of tasks, especially in inspections in places with many obstacles and inhospitable to humans. This thesis presents the development of a remote tendon drive robotic continuum manipulator prototype. It has a modular structure composed of serially connected vertebrae. It is initially designed by computational tools, and then physically built. Kinematic studies and simulations are presented with comparisons between theoretical and experimental results. Finally, a situation is presented to simulate the performance of the manipulator in a real task.
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Tung, Yi-Shiuan. „Analytical and simulation models for flexible, robotic automotive assembly lines“. Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119702.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 117-120).
To adapt to the rapidly changing market, the automotive industry is interested in flexible assembly lines that can handle disruptions due to machine failures or schedule changes. In this thesis, we propose a new assembly line layout (flexible layout) that uses mobile, robotic platforms to transport cars, which can move out of the line when disruptions occur to prevent blocking other cars on the line. We use discrete event simulation and analytical models to analyze the throughput of the new layout in a single band and two bands with a finite buffer. The simulation results show that the new layout achieves an average of 25.6% and 35.9% speed up over the conventional layout for the single band and two bands cases respectively. We improve previous two-machine line analytical models by augmenting the state of the Markov chain to model every machine in a band. We show that the augmented discrete Markov chain model predicts the throughput within 13% and 18% of the simulation throughput for the conventional and flexible layouts respectively. We further evaluate whether the flexible layout can improve its throughput by learning a policy for parking the platforms. By modeling the agents as independent learners, we apply single-agent reinforcement learning algorithms and show that the policy learned works well but suffers from lack of coordination.
by Yi-Shiuan Tung.
M. Eng.
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Janse, van Rensburg Frederick Johannes. „Object recognition and automatic selection in a Robotic Sorting Cell“. Thesis, Stellenbosch : University of Stellenbosch, 2006. http://hdl.handle.net/10019.1/2609.
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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2006.This thesis relates to the development of an automated sorting cell as part of a flexible manufacturing line, with the use of object recognition. Algorithms for each of the individual subsections creating the cell, recognition, position calculation and robot integration were developed and tested. The Fourier descriptors object recognition technique is investigated and used. Invariance to scale, rotation or translation of the boundary of an object recognition. Stereoscopy with basic trigonometry is used to calculate the position of recognised objects, after which they are handled by a robot. Integration of the robot into the project environment is done with trigonometry as well as Euler angles. It is shown that a successful, automated sorting cell can be constructed with object recognition. The results show that reliable sorting can be done with available hardware and the algorithms development.
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Karoui, Badreddine. „Active force-controlled part assembling for a robotic assembly cell“. Thesis, University of Ottawa (Canada), 1988. http://hdl.handle.net/10393/5462.
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Mets, Kiritsis Lea. „Can cheap robotic vacuum cleaners be made more efficient? : A computer simulation of a smarter robotic vacuum cleaner“. Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230228.
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Robotic vacuum cleaners are popular domestic robots that clean floors without human intervention. The purpose of this report is to study how cheap robotic vacuum cleaners’ navigation pattern can be improved. This is achieved by simulating two models of robotic vacuum cleaners, one “simple” and one “smart”, both relying on the knowledge that cheap sensors can provide about the surrounding environment. As the results show how the smart robot is better than the simple robot in all simulations in terms of floor coverage, the results are considered successful. The fact that the simulations are simplified versions of real-life robotic vacuum cleaners is discussed, and future work could consider examining more realistic simulations or experiment on real-life robotic vacuum cleaners.Robotdammsugare är populära hushållsrobotar som städar golv utan människors inblandning. Syftet med den här rapporten är att undersöka hur billiga robotdammsugares navigeringsmönster kan förbättras. Detta görs genom att simulera två modeller av robotdammsugare, en "simpel" och en "smart", där båda förlitar sig på information som billiga sensorer kan ge om omgivningen. Resultaten anses vara lyckade då de visar hur den smarta roboten presterar bättre än den simpla roboten i alla simulationer. Faktumet att simulationerna är simplifierade versioner av verkliga robotdammsugare diskuteras och framtida forskning kan undersöka mer realistiska simulationer eller experimentera med riktiga robotdammsugare.
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Felip, León Javier. „Contact driven robotic grasping“. Doctoral thesis, Universitat Jaume I, 2016. http://hdl.handle.net/10803/662853.
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As a result, in this thesis we provide a complete implementation of a manipulation
system that can operate in unstructured environments. However, there is room for
improvement in all the components presented and many unsolved questions that should
be addressed in the future remainComo resultado del trabajo presentado en esta tesis, se proporciona una implementación completa de un sistema de manipulación que puede funcionar en entornos no estructurados. Sin embargo, hay margen de mejora en todos los componentes y quedan muchas preguntas sin resolver que deberían ser abordadas en el futuro.
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Farelo, Fabian. „Task oriented simulation and control of a wheelchair mounted robotic arm“. [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003294.
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Goh, Kim-Huat. „WRAPS : a programming and simulation software tool for integrated robotic welding“. Thesis, Loughborough University, 1988. https://dspace.lboro.ac.uk/2134/28002.
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The outcome of this research is a low-cost off-line programming and simulation system called WRAPS for robotic arc-welding. WRAPS is an acronym for Welding Robot Adaptive Programming and Simulation. The package was developed on a Future FX20 microcomputer with 640 kbytes RAM under the Concurrent CP/M-86 operating system. It is written in the 'C' language and graphics capabilities is provided via the Graphics System eXtension (GSX) of Digital Research. WRAPS is menu-driven and utilises windows and icons through custom software for user interface.
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Oates, Robert Foster. „The suitability of the dendritic cell algorithm for robotic security applications“. Thesis, University of Nottingham, 2010. http://eprints.nottingham.ac.uk/11485/.
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The implementation and running of physical security systems is costly and potentially hazardous for those employed to patrol areas of interest. From a technial perspective, the physical security problem can be seen as minimising the probability that intruders and other anomalous events will occur unobserved. A robotic solution is proposed using an artificial immune system, traditionally applied to software security, to identify threats and hazards: the dendritic cell algorithm. It is demonstrated that the migration from the software world to the hardware world is achievable for this algorithm and key properties of the resulting system are explored empirically and theoretically. It is found that the algorithm has a hitherto unknown frequency-dependent component, making it ideal for filtering out sensor noise. Weaknesses of the algorithm are also discovered, by mathematically phrasing the signal processing phase as a collection of linear classifiers. It is concluded that traditional machine learning approaches are likely to outperform the implemented system in its current form. However, it is also observed that the algorithm’s inherent filtering characteristics make modification, rather than rejection, the most beneficial course of action. Hybridising the dendritic cell algorithm with more traditional machine learning techniques, through the introduction of a training phase and using a non-linear classification phase is suggested as a possible future direction.