Design solution of 6-axis robotic arm for MAG welding

U uvodnom dijelu rada opisana je povijest i osnovne izvedbe industrijskih robota. Potom je provedena analiza tržišta te su izdvojene glavne karakteristike industrijskih robota za zavarivanje. Nakon analize tržišta konstruiran je početni model te je provedena dinamička analiza gibanja robotske ruke u programu MSC Adams. Potom je provedena verifikacija dobivenih rješenja dinamičke analize gibanja robotske ruke na jednostavnom modelu te uspoređeni su rezultati dinamičke analize dobiveni pomoću programa MSC Adams i Autodesk Inventor. Također je provedena i verifikacija različitih programa kod analize naprezanja i analize zamora materijala. Nakon provedenih verifikacija optimizirana je konstrukcija robotske ruke na temelju rezultata dinamičke analize gibanja, analize naprezanja i analize zamora komponenata. U završnom dijelu rada proračunati su odabrani elektromotori i prijenosnici te je opisana konstrukcija robotske ruke za zavarivanje.In the introductory part of the thesis history and basic types of industrial robots are described. Market analysis is then conducted and the main characteristic of industrial robot for welding are defined. After market analysis the initial model of robotic arm is designed and dynamic analysis of robotic arm motion is preformed in MSC Adams software. Results obtained from dynamic analysis are verified on simple model and afterwards results obtained form dynamic analysis of robotic arm motion using MSC Adams and Autodesk Inventor are compared. Verification of various software for stress and fatigue analysis is also performed. After verification process, robotic arm design is optimized based on dynamic motion analysis results, stress analysis results and components fatigue analysis results. In last parts of thesis calculation of selected electric motors and gears are preformed and final design of the robotic arm for welding is described