Esse trabalho tem como objetivo o estudo e análise da implantação de um elo prismático (sexto eixo no robô Scorbot-Er V), para translação do robô em atividades didáticas visando diminuir o tempo de troca do robô e das estações de trabalho em sala de aula, melhorando a visão do aluno em relação à aprendizagem na área de automação industrial e robótica tornando-a sistêmica, dando-lhe assim capacidade de integrar vários sistemas e estudar o sistema de frenagem. Feita uma análise dos ambientes onde os alunos são treinados na programação de robôs, observou-se que no desenvolvimento desta tarefa, havia duas restrições básicas: A dificuldade na programação e movimentação física do robô na troca das estações de trabalho, que levavam em torno de três horas e que não era possível a integração de CLP, IHM, inversores de freqüência, motores AC, sensor de posicionamento e fuso de esferas no ambiente de laboratório. Desenvolveu-se uma análise da precisão do sistema mecânico do sexto eixo implantado, permitindo uma visão do funcionamento do posicionamento, através do sensor acoplado no eixo de fuso esférico, o qual é acionado por um motor AC, transmitindo e convertendo o movimento circular para linear através de uma relação de polias. O resultado obtido foi à diminuição do tempo de três horas para cinco minutos na troca das estações de trabalho e uma precisão de décimos de milímetros para o posicionamento do robô e com a integração dos sistemas foi possível melhorar a aprendizagem do aluno obtendo um ganho pedagógico. / This work aims to study and analyze the implementation of a prismatic link (sixth axis in robot Scorbot-Er V) for translation of the robot in didactic activities to reduce the time to change the robot and workstations in the classroom, improving students vision for learning in the area of industrial automation and robotics becoming systemic, thus giving you ability to integrate various systems and studying the braking system. Made an analysis of the environments where students are trained in the programming of robots and it was observed that the development of this task, there were two basic restrictions: The difficulty in planning and handling of the robot in the physical exchange of workstations, which took around three hours and it was not possible the integration of PLC, HMI, frequency inverters, AC motor, sensor of positioning and axis ball screew in a laboratory environment. It was developed an analysis of the accuracy of the mechanical of sixth axis implanted, allowing a view of the positioning operation by the sensor coupled to the axis ball screew, which is powered by an AC motor transmitting and converting the linear motion to move through a relationship of pulleys. The result was a reduction of time in three hours to five minutes in the exchange of workstations and a precision of tenths of millimeters for positioning the robot and the integration of the systems have improved the learning of students achieving pedagogical gain.

The aim of this master thesis is to design replacing the central drive of the overhead crane with dislocated drives. It´s a tong crane with the lifting capacity of 63 tons, located inside the hall. In the thesis is processed functional calculation of two types of drives, the associated types of brakes and the coupling element. Next there is a strength control of a new mechanism seat and a selected components. This whole leads to the output, which is the drawing documentation.

Made available in DSpace on 2014-06-11T19:22:31Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-05-24Bitstream added on 2014-06-13T19:27:59Z : No. of bitstreams: 1 raniel_t_me_ilha.pdf: 1815527 bytes, checksum: 2b9558bcbd56601c8cbb627feda891cf (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / A automação de esteiras rolantes é algo comum e importante em sistemas industriais, mas problemas práticos ainda representam desafios. Um dos desses desafios é manter a precisão em sistemas que exigem paradas sistemáticas, pois folgas mecânicas tendem a provocar variações nas posições de paradas ao longo do tempo. A aplicação de motores de indução têm se tornado comum e soluções eficientes e de baixo custo têm sido pesquisadas. Neste trabalho foi desenvolvido e implementado um sistema de controle de posição e velocidade aplicado em esteiras transportadoras utilizando inversor de frequência, microcontrolador, encoder óptico incremental e sensor indutivo. O movimento da esteira transportadora é efetuado por um motor de indução trifásico, que é acionado pelo conjunto microcontrolador – inversor de frequência. Este conjunto impõe uma frequência no estator do motor através de uma troca de mensagens entre microcontrolador e inversor de frequência (Sistema Mestre-Escravo). Para o envio e recebimento das mensagens, utilizou-se o protocolo de comunicação serial USS® (Universal Serial Interface Protocol) através do padrão RS-485. Os controles de posição e velocidade de rotação do eixo do motor fundamentam-se no sinal gerado pelo encoder óptico incremental, responsável por informar a posição do eixo do motor ao longo da trajetória, e no sensor indutivo que determina uma referência externa importante para a esteira transportadora. Para o funcionamento automático da esteira, elaborou-se um software em linguagem de programação C. Como resultado obteve-se um sistema de controle de posição e velocidade do eixo do motor de indução trifásico que apresenta bons resultados / Automated conveyors system have been largely used in industrial applications. However, there are still practical issues to be overcome. One of them is due to the system mechanical limitation which can lead to low accuracy for applications based on “stop-and-go” movements. Induction motors have been largely used in such applications and low costs solutions have been searched. In this work it was developed and implemented a system of positioning and velocity control applied to conveyors which is based on frequency inverter, microcontroller, optical incremental encoder and inductive sensor. The conveyor’s movement is made by means of a three-phase induction motor, which is driven by the couple microcontroller–frequency inverter. There are messages exchange between the microcontroller and the frequency inverter (Master – Slave configuration) which is based on the communication serial protocol USS through the RS-485 standard. The position and velocity of the motor spindle are controlled using an optical incremental encoder, which is responsible to provide the position of the trajectory, and an inductive sensor which determines the initial reference to the conveyor. The software used to control the system was developed in C language. The results show a low cost system with good results

This thesis deals with the effect of frequency inverter on the lifetime of roller bearings. The measurement has been carried out on the frequency inverter and induction motor by Siemens in the Switchgear laboratory of Fakulty of elektrical engineering and communication. Data has been recorded and processed on Adash VA4 Pro analyzer. Methods of measuring RMS values and frequency analysis of vibration and current were used for the analysis. Based on the mutual similarity of frequency spectrum, the presence of the high frequency capacitive current in the bearings has been proven. To prevent this, possible solutions have been presented. In the second part of the experiment an effect of changing pulse width modulation (PWM) on vibration was examined. The goal was to make a basic analysis and to provide background material for further research.

The aim of this diploma thesis is detail description of theory, design process and final realization of single-purpose machine for pressing canister funnels. Theoretical section of this work covers manufacturing standards of the electrical cabinets, options for the single-purpose machine control with focus on the programmable logic controller e.g. PLC, PLC control program concept with definition of the main alarm states and description of two types of electrical cabinet. Practical part contains description of the electrical cabinet, its block diagram, photo documentation of the wiring (chapter 4.), chosen PLC type, its advantages and detail program description using Ladder diagram notation, communication with operator realized with touch LCD panel, programming environment for this LCD panel and program realization process. Finalized machine description and its photo documentation in manufacturing process is covered in the end. This diploma thesis is based and extends previously successfully defended semester project.

The diploma thesis is focused on the construction design of elevator for pallets with car seats weighing 200 kg. This device is proposed for vertical transport of the load between two working positions which are separated by 6m. Part of the pallet hoist is a roller conveyor attached on a lifting frame. The roller conveyor allows loading and unloading pallets from the fixed roller conveyors in the lower and upper station. There are the functional calculations of important parts, strength control of traction belt and shaft of driving pulley drum. By FEM (Finite Element Method) is detected stress distribution of the lifting frame. Parts of the annex are the manufacturing drawings of the lifting frame, shaft of driving drum, the driving station and drawing of the whole assembly vertical conveyor. Furthermore, the timing diagram function for one cycle, risk analysis and FMEA.

Övertoner orsakade av varvtalsstyrda motordrifter ger problem i industrisystem. Syftet med studien är att identifiera problemen och ge rekommendationer för att undvika dem. Studien utfördes som examensjobb på KTH för konsultföretaget Ramböll. En litteraturstudie i ämnet kombinerades med elkvalitémätningar på drifter hos Sandvik Mining. Elkvalitéproblem orsakade av varvtalsstyrda motordrifter kommer till stor del av att frekvensstyrningen ger olinjärt strömuttag som, om nätet inte är tillräckligt starkt, påverkar spänningskvalitén. Problemen kan vara driftstopp, störd utrustning och ökat slitage på utrustning för att nämna några. Denna studie visar att vid ändringar i system innehållande övertoner kan framtida övertonshalter approximeras för vissa fall. För att upprätta en modell över systemet där lasten ses som en övertonsgenerator utförs mätningar före ändringen. Med vissa antaganden om nätimpedansen kan sedan beräkningar av övertonshalten i systemet efter ändring utföras. I denna studie har en förenklad modell använts för att förutse övertonshalter efter ändringar. Syftet är att visa på ett resurseffektivt sätt att approximera så att information för att förebygga problem finns vid beslutsfattande om ändringar. Elkvalitéproblem skulle kunna förebyggas i högre grad och att inte göra det är onödigt slöseri med ekonomiska, ekologiska och sociala resurser. / Harmonics caused by variable speed drives create problems in industrial systems. The purpose of this study is to identify these problems and give recommendations to avoid them. The study was conducted as a bachelor thesis at the Royal Technical University in Stockholm, Sweden for the consultant company Ramboll Energy. A literature review was combined with electrical power quality measurements on variable speed motor operations conducted at Sandvik Mining in Sandviken, Sweden. Electrical quality problems caused by variable speed drives origin mainly from frequency inverter control that gives a non-linear current usage which, if the grid is not strong enough, affects voltage quality. Examples of problems are production downtime, disruption and malfunction of equipment and increased wear of equipment. This study shows that when making changes in systems containing harmonics, future harmonic levels can be approximated in some cases. Measurements before the change provide input data to model the system, describing the load as a harmonic current generator. With some assumptions on the grid impedance, calculating an approximation on harmonic after the change is possible. This study has used a simplified model for the prediction of harmonic levels after a change in the system. The purpose is to propose a cost effective way to approximate so that information on how to prevent problems …in the decision making. Electrical power quality problems could be prevented more often and not doing that is a waste of economical, environmental and social resources.