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master's thesis
Razvoj laboratorijskog portalnog manipulatora
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:610736
Lacković, Alen
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Lacković, A. (2022). Razvoj laboratorijskog portalnog manipulatora (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:610736

Lacković, Alen. "Razvoj laboratorijskog portalnog manipulatora." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:610736

Lacković, Alen. "Razvoj laboratorijskog portalnog manipulatora." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:610736

Lacković, A. (2022). 'Razvoj laboratorijskog portalnog manipulatora', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 23 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:610736

Lacković A. Razvoj laboratorijskog portalnog manipulatora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 November 23] Available at: https://urn.nsk.hr/urn:nbn:hr:235:610736

A. Lacković, "Razvoj laboratorijskog portalnog manipulatora", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:610736

Metadata
TitleRazvoj laboratorijskog portalnog manipulatora
Title (english)Development of laboratory gantry manipulator
AuthorAlen Lacković
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-07-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Cilj ovog diplomskog rada je razviti portalni manipulator s mogućnosti ručnog i automatskog načina rada. Za automatski su osmišljene dvije funkcije, paletizacija i lokalizacija objekata i sortiranje. Upravljanje se odvija pomoću Siemensovog PLC-a, napravljeno je i interaktivno sučelje na HMI-ju. Dvije osi manipulatora pogonjene su koračnim motorom, a treća os je pneumatski cilindar na koju je montirana pneumatska hvataljka za rukovanje predmeta. Za lokalizaciju objekata koristio se strojni vid za detekciju premeta za rukovanje predmetima rada u radnom prostoru. PLC i HMI programirani su u TIA Portalu, a strojni vid Python programskim jezikom.
Abstract (english)
The goal of this master’s thesis is to develop a gantry manipulator with manual and automatic modes of operation. Two functions, palletization and object localization and sorting, have been designed for automatic mode. The control is carried out using a Siemens PLC, and an interactive interface in the HMI has been made. Two axes of the manipulator are driven by stepper motors, and the third is a pneumatic cylinder on which a pneumatic gripper is mounted for object handling. For object localization, machine vision was used to detect objects for handling work pieces in the work area. PLC and HMI are programmed in TIA Portal, and machine vision in Python programming language.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:610736
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2022-07-07 21:47:51