Razvoj laboratorijskog portalnog manipulatora

Lacković, Alen

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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

Cite this document

APA 6th Edition

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

MLA 8th Edition

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

Chicago 17th Edition

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

Harvard

Lacković, A. (2022). 'Razvoj laboratorijskog portalnog manipulatora', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 22 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:610736

Vancouver

Lacković A. Razvoj laboratorijskog portalnog manipulatora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 December 22] Available at: https://urn.nsk.hr/urn:nbn:hr:235:610736

IEEE

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

Cite this item: https://urn.nsk.hr/urn:nbn:hr:235:610736

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Metadata

Title	Razvoj laboratorijskog portalnog manipulatora
Title (english)	Development of laboratory gantry manipulator
Author	Alen Lacković
Mentor	Marko Švaco (mentor)
Granter	University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb
Defense date and country	2022-07-21, 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)
Language	croatian
URN:NBN	urn:nbn:hr:235:610736
Study programme	Title: Mechanical Engineering Study programme type: university Study level: graduate Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resource	Text
File origin	Born digital
Access conditions	Open access
Terms of use
Repository	Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on	2022-07-07 21:47:51