This thesis aimed to explore how to robotize the stacking of stator plates for an electric vehicle motor developed at Uppsala University. The solution developed should also enable easy implementation in future laboratory exercise. The project was conducted at Uppsala University’s Department of Electrical Engineering, where the current electric motor was being developed and utilized in the university’s engineering courses. The stacking process was manually performed and was repetitive, and the plates often got stuck in the threaded rods during assembly. Previous research at the university had developed a robotic stacking solution for two-meter-long stator plates for wave power generators, using electromagnets and inductive sensors to pick up and position the plates. An initial assessment was conducted to understand the project conditions fully, followed by a concept development phase and concept selection supported by a Pugh- matrix. A prototype of a robot stacking tool was developed and evaluated through various experiments and field tests. The tool was equipped with inductive sensors to identify the holes in the stator plate, thus ensuring correct orientation. The tool was designed to be compatible with either suction cups or electromagnets, enhancing flexibility, with suction cups proving more effective for this application. Two different stacking process flows were developed and later assessed through simulations in ABB Robotstudio, estimating the stacking times at 23 and 28 minutes for 200 stator plates. The tool demonstrated reliable gripping and stacking of the stator plates with good precision, provided that the variation in the search angle between the plates was low. The problem arising with larger search angles could be due to misaligned centers of the tool and stator plate, poor roundness of the tool, or improper centering of the tool on the robot arm. To achieve better precision, the use of guide pins can be considered and evaluated further.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:uu-531221 |
| Date | January 2024 |
| Creators | Persson, Mathias |
| Publisher | Uppsala universitet, Elektricitetslära |
| Source Sets | DiVA Archive at Upsalla University |
| Language | Swedish |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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