Michael, Stefanus and Widjaja, Benny and Rusyadi, Rusman (2019) Developing the Three-Axis Delta Robot Movement IGUS/Beckhoff. Bachelor thesis, Swiss German University.

Preview	Text Stefanus Michael 11501032 TOC.pdf Download (1MB) | Preview
	Text Stefanus Michael 11501032 1.pdf Restricted to Registered users only Download (785kB)
	Text Stefanus Michael 11501032 2.pdf Restricted to Registered users only Download (616kB)
	Text Stefanus Michael 11501032 3.pdf Restricted to Registered users only Download (400kB)
	Text Stefanus Michael 11501032 4.pdf Restricted to Registered users only Download (1MB)
	Text Stefanus Michael 11501032 5.pdf Restricted to Registered users only Download (721kB)
Preview	Text Stefanus Michael 11501032 Ref.pdf Download (335kB) | Preview

Abstract

The main purpose of this thesis project is to create a linear movement synchronization program within the Beckhoff Programmable Logic Controller (PLC). The objective is for the three-axis delta robot from IGUS to be able to demonstrate its linear movement synchronization with the existing linear moving table at the bottom. A drawing of a picture will be conducted to demonstrate the linear movement capability of the threeaxis delta robot. The plan is to use and program the absolute rotary encoder and servo motors provided by Beckhoff. The Delta Robot mechanical structure of parallel arms help the bottom universal joint maintain its parallel orientation to the Delta Robot Base Mounting. This bottom joint is the End Effector of the three-axis Delta Robot, where the pencil will be attached as the main actuator for the drawing demonstration. The plan to create the linear synchronization movement is to use the existing function block as the foundation of the movement program. However, some major modification of programming logics and calculations still need to be done. The forward and inverse kinematic of the IGUS mechanical components need to be discovered and developed to fit the linear movement calculation formula.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Delta Robot ; Three-Axis ; PLC ; Servo Motors ; Absolute Rotary Encoder
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Adityatama Ratangga
Date Deposited:	21 May 2020 15:36
Last Modified:	21 May 2020 15:36
URI:	http://repository.sgu.ac.id/id/eprint/693

Actions (login required)

View Item