Change search
ReferencesLink to record
Permanent link

Direct link
Omkonstruktion av treaxlig plockrobot och dess plockverktyg
Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics, Science, Mathematics and Engineering Education Research.
2014 (Swedish)Independent thesis Basic level (university diploma), 15 credits / 22,5 HE creditsStudent thesisAlternative title
Redesign of Three-Axis Robot and Its Picking Tool (English)
Abstract [en]

This thesis has treated a three-axis robot which task is to serve a larger test machine tomove the modules to be tested, from the storage to the test site. The robot is composed ofthree linear actuators; two standard components of ball screw type and a custom-builtactuator of trapezoidal type. The work has mainly focused on the custom-built device to seeif it could be replaced with a standard component. Part of the work has been to look into thepicking tool and to see if there are any possibilities to improve its function.The report presents two different proposals which I decided to call Robot 1 and Robot 2 andthey aim to address the problems arising in the purpose-built linear unit and the X-axislinearity problems. Robot 1 focuses on eliminating the problems that arise around therobot's X-axis, with such simple means as possible and without making excessive materialchanges. The idea behind the solution of Robot 1 is also to be able to apply it onto existingmachinery without too much interference. Robot 2 is significantly more advanced and alsoimplies considerable material changes. The advantage of Robot 2 is that it takes into accountboth the problems with the X-axis and Y-axis, and should absolutely be considered on newmachines, but also for existing machines. For the picking tool the thesis presents the solutionin the form of both a modified existing vacuum tool and a brand new pneumatic gripper forRobot 2 which differ from the vacuum system. I think that the vacuum tool presented shouldbe considered to be implemented even if no other modifications are made on the robotbecause of its simple construction.The thesis presents the functions and problems with the current robot and its picking tool.For the described problems the different solutions have been presented, partly by findingcompletely new market components but also through new self-designed components.During this time, choices of materials and material dimensions have been based onoverestimates and previous material selections, which later were controlled by using FEManalysisin CAD-environment.The work is considered to have gone well and the goals that have been set have beenachieved in a satisfactory manner.

Place, publisher, year, edition, pages
2014. , 58 p.
Keyword [sv]
linjärenhet, robot, omkonstruktion
National Category
URN: urn:nbn:se:kau:diva-32542OAI: diva2:725635
External cooperation
Midroc Automation
Subject / course
Electronic Engineering, Bachelor of Science
Educational program
Mechatronic Engineering, 180 hp
Available from: 2014-06-17 Created: 2014-06-16 Last updated: 2014-06-17Bibliographically approved

Open Access in DiVA

fulltext(3328 kB)167 downloads
File information
File name FULLTEXT01.pdfFile size 3328 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Häggström, Per-Martin
By organisation
Science, Mathematics and Engineering Education Research

Search outside of DiVA

GoogleGoogle Scholar
Total: 167 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 147 hits
ReferencesLink to record
Permanent link

Direct link