黑料不打烊

艩iame magistro darbe nagrin臈jamas genetinio programavimo (GP) taikymas kuriant pa啪angias valdymo strategijas netiesiniam ir sud臈tingam skys膷i懦 dinamikos 鈥瀎luidic pinball鈥� (skys膷i懦 smeigtuk懦) sistemai, siekiant suma啪inti srauto pasiprie拧inim膮 (drag) u啪nugario srityje. 艩i sistema naudojama kaip etalonas 寞vairioms pramonin臈ms sritims, tokioms kaip mikrofluidika, cheminiai reaktoriai ir automobili懦 technologijos. Skirtingai nei valdymo metodai, kuriems reikia sud臈tingo modeliavimo ir tiesinimo, da啪nai 寞ne拧an膷i懦 netikslum懦, GP leid啪ia tiesiogiai evoliucionuoti valdymo d臈snius, kurie prisitaikydami stabilizuoja sraut膮, remdamiesi sl臈gio ir grei膷io jutikli懦 duomenimis. Darbe i拧samiai apra拧omas GP procesas ir jo na拧umo palyginimas su tradiciniais valdymo metodais. Simuliacij懦 rezultatai rodo, kad GP pagrindu sukurti valdymo d臈sniai lenkia optimalius linijinius valdiklius tiek pasiprie拧inimo ma啪inimo, tiek energijos efektyvumo po啪i奴riu, si奴lydami perspektyvi膮 krypt寞 netiesiniam sraut懦 valdymui.

This thesis explores the use of genetic programming (GP) to develop advanced control strategies for the nonlinear and complex fluidic pinball system, with the goal of reducing drag in the wake flow. The system serves as a benchmark for various industrial applications such as microfluidics, chemical reactors, and automotive systems. Unlike control methods that require complex modeling and linearization, which often introduce inaccuracies, GP directly evolves control laws that adaptively stabilize the flow through pressure and velocity sensor readings. The study details the GP process and compares its performance against conventional control methods. Simulation results show that GP-based control laws outperform optimal linear control laws in terms of drag reduction and energy efficiency, offering a promising direction for nonlinear flow control.

Bakalauro baigiamajame darbe pristatomas 鈥淜raujo m臈gini懦 testavimo 寞renginio m臈gini懦 sud臈jimo faz臈s projektas鈥�, kuriame projektuojamas m臈gintuv臈li懦 transportavimo ir nuskaitymo 寞renginys. Darbo tikslas 鈥� pateikti in啪inerin寞 sprendim膮 medicinos pramon臈s darbuotoj懦 deficitui u啪pildyti, automatizuojant vien膮 i拧 daugelio kraujo m臈gin臈li懦 tyrimo etap懦. Darb膮 sudaro ai拧kinamoji ra拧to dalis ir keturi br臈啪iniai. Ra拧to darbe trumpai ap啪velgiamos analogi拧kos konstrukcijos ir apra拧omas m臈gintuv臈li懦 standartas, kuriam pritaikomas 寞renginys. Atliekami projektiniai ir patikrinamieji konstrukciniai skai膷iavimai, parenkami reikiami elektronikos komponentai, brai啪omos kinematin臈s ir elektrin臈s-blokin臈s schemos, sukuriamas 寞renginio valdymo algoritmas, detaliai paai拧kinantis 寞renginio veikimo princip膮, bei atliekami ekonomini懦 rodikli懦 nustatymo skai膷iavimai. Darb膮 sudaro 11 dali懦: 寞vadas, analogi拧k懦 konstrukcij懦 ap啪valga, projektiniai skai膷iavimai, kinematin臈, elektrin臈 ir valdymo algoritmo schemos, darb懦 sauga, ekonomini懦 rodikli懦 nustatymas, i拧vados, 拧altiniai ir priedai. Darbo apimtis 鈥� 65p.; 12 lenteli懦; 24 paveiksl臈liai; 25 拧altiniai. Pridedami priedai: 4 br臈啪iniai, kuriuose: bendro vaizdo, surinkimo, dviej懦 detali懦 darbo br臈啪iniai, valdymo algoritmas, kinematin臈 schema, elektrin臈-blokin臈 schema, ekonominiai rodikliai.

The bachelor's thesis presents the "Design of the sample collection phase of the blood sample testing facility鈥�, which involves the design of a device for transporting and scanning test tubes. The aim of the work is to provide an engineering solution to address the shortage of workers in the medical industry by automating one of the many stages of blood sample analysis. The thesis consists of an explanatory written part and four technical drawings. The written part briefly reviews similar existing constructions and describes the standard of test tubes to which the device is adapted. It includes design and verification calculations for the construction, selection of necessary electronic components, drafting of kinematic and electrical-block diagrams, and the development of a control algorithm that explains the operating principle of the device in detail. Additionally, economic calculations are performed to determine performance indicators. The work is divided into 11 sections: introduction, review of similar designs, design calculations, kinematic, electrical, and control algorithm diagrams, work safety, determination of economic indicators, conclusions, references, and appendices. The scope of the thesis: 65 pages; 12 tables; 24 figures; 25 references. The appendices include 4 technical drawings: general view, assembly, working drawings of two parts, control algorithm, kinematic diagram, electrical-block diagram, and economic indicators.

艩iame baigiamajame bakalauro projekte yra apra拧omas kompakti拧k懦 plastiko liejimo stakli懦 dizainas. Komponent懦 pasirinkimas buvo pagr寞stas esam懦 plastiko liejimo stakli懦 analize, pirmenyb臋 teikiant ekonomi拧kumui ir galimybei stakles pagaminti universitete. 漠renginys naudoja linijinius strypus formos preso jud臈jimui nukreipti, TR30 sraigt膮 form懦 suspaudimui ir sraigtin寞 plastiko purk拧tuk膮 sukam膮 u啪daros grandin臈s 啪ingsnio variklio. Purk拧tuk懦 bei form懦 temperat奴ra kontroliuojama naudojant PID kilpas, RTD (Pt100) jutiklius ir galios elektronik膮. Mechaniniai ir analitiniai skai膷iavimai patvirtino konstrukcijos pagr寞stum膮, 寞skaitant sukimo moment膮 ir pritaikymo leistinus nuokrypius. Dizaino patobulinimai buvo paremti FEA modeliavimu ir CAD modeliavimu Fusion 360. Apskai膷iuota, kad galutin臈 ma拧ina sveria 39,5 kg. Bendrieji 寞renginio matmenys yra 1000 mm x 346 mm x 386 mm. Stakl臈s priima formas, kuri懦 matmenys yra iki 100 mm x 100 mm x 30 mm. Valdymo sistema yra pagr寞sta Arduino Mega su lie膷iamo ekranu. Darbe taip pat pateikiama stakli懦 veikimo principo blokin臈 schema. Taip pat buvo apibr臈啪ti elektros komponentai ir diagnostikos ry拧io protokolas. Numatoma maksimali ma拧inos galia yra 910 W. Ma拧ina maitinama i拧 230v 1PH maitinimo lizdo. Ekonomin臈 analiz臈 rodo, kad vieneto gamybos kaina yra 1422,76 鈧�, fiksuotos m臈nesin臈s i拧laidos - 17747 鈧�, o l奴啪io ta拧kas - 414 vnt per 5 met懦 period膮. Pelningumo rodikliai, tokie kaip NPV, IRR ir atsipirkimo laikotarpis, patvirtina 拧i懦 stakli懦 koncepcija komercin寞 gyvybingum膮.

This final bachelor project presents the design of a compact desktop injection moulding machine (IMM) optimized for low-volume production using shredded plastics. Component selection was based on analysis of existing IMM solutions, prioritizing cost-effectiveness. The machine uses linear rods for guidance, a TR30 lead screw for clamping, and a screw injector with closed-loop stepper motors for actuation. Temperature control is achieved via PID loops, RTD (Pt100) sensors, and power electronics. Mechanical and analytical calculations confirmed structural feasibility, including torque and fit tolerances. Design refinements were supported by FEA simulations and CAD modeling in Fusion 360. Final machine is estimated to weigh 39.5Kg. General dimensions of the device are 1000mm x 346mm x 386mm. IMM accepts moulds with dimensions of up to 100mm x 100mm x 30mm. The control system is based on Arduino Mega with touchscreen interface. High-level algorithm block diagram was developed. Electrical components and diagnostics communication protocol weas also defined. Estimated maximal power draw of the machine is 910W. Machine is designed to be powered form 230v 1PH power socket. Economic analysis shows a unit variable cost of 1鈥�422,76鈥�鈧�, fixed monthly costs of 17鈥�747鈥�鈧�, and a break-even point at 414 units. Profitability indicators such as NPV, IRR, and payback period confirm the commercial viability of this IMM concept.

Baigiamajame magistro darbe nagrin臈jamos vibracijos, atsirandan膷ios automobilio salone automatin臈s plovyklos plovimo proceso metu. Atliekama mokslini懦 straipsni懦, kuriuose aptariami skirtingi vibracij懦 tyrimai, analiz臈. Atlikus mokslini懦 straipsni懦 ap啪valg膮, nustatyta, kad mokslininkai virpesiu matavimams naudoja akcelerometrus. buvo atlikti eksperimentiniai tyrimai automobili懦 plovykloje 鈥濸ro Bro Express鈥�, naudojant 鈥濾olkswagen Golf 鈥� automobil寞. Tyrimo metu vibracijos buvo matuojamos naudojant akcelerometrus IEPE, keturiose skirtingose plovyklos zonose, kei膷iant 拧epe膷i懦 sukimosi grei膷ius. Surinkti duomenys apdoroti taikant autoregresin寞 model寞, siekiant tinkamai 寞vertinti vibracij懦 intensyvum膮. Remiantis teorine analize bei eksperimento rezultatais, pateiktos baigiamojo darbo i拧vados. Darb膮 sudaro 3 dalys: 寞vadas, vibracij懦 analiz臈 mokslin臈je literat奴roje, tyrimo metodika, tiriamojo objekto eksperimento rezultatai, i拧vados, literat奴ros s膮ra拧as. Darbo apimtis 鈥� 46 p. teksto be pried懦, 27 iliustracijos, 3 lentel臈s, 33 bibliografiniai 拧altiniai.

The final master's thesis focuses on the vibrations occuring inside the car cabin during the washing process in an automatic car wash. An analysis of scientific articles dealing with different vibration studies is carried out. After reviewing scientific articles, it was found that researchers use accelerometers for vibration measurements. Experimental studies were carried out at the Pro Bro Express car wash, using a Volkswagen Golf car. During the study, vibrations were measured using IEPE accelerometers in four different areas of the carwash by varying the speed of the brushes. The collected data were processed using an autoregressive model in order to properly estimate the vibration intensity. Based on the theoretical analysis and the experimental results, the conclusions of the thesis are presented. Structure: introduction, analysis of vibrations in the scientific literature, research methodology, results of the experiment on the object under study, conclusions, list of references. Thesis consists of: 46 p. text without appendixes, 27 illustrations, 3 tables, 33 bibliographical entries.

艩iame bakalauro darbe nagrin臈jamas mobiliojo roboto sistemos, valdomos per virtuali膮 realyb臋, k奴rimas, konkre膷iai naudojant Meta Quest 3 ausines. Robotas sukurtas vienra膷io dizaino ir turi keturi懦 laisv臈s laipsni懦 roboto rank膮, leid啪ian膷i膮 tiksliai valdyti nuotolin寞 valdym膮 sud臈tingose 鈥嬧�媋r pavojingose 鈥嬧�媋plinkose. Studijoje pateikiama esam懦 teleoperacini懦 sistem懦 analiz臈, po kurios argumentuotai atrenkami komponentai. Buvo atlikti i拧sam奴s techniniai skai膷iavimai, siekiant nustatyti tinkamus variklius, pavar懦 d臈啪臋 ir akumuliatoriaus talp膮. Projektuojamos dalies mechaniniam patvarumui 寞vertinti buvo atlikti konstrukciniai modeliavimai. Valdymo sistema sukurta naudojant Raspberry Pi 4, Arduino mega, BLDC variklius ir servovariklius, o 鈥濽苍颈迟测鈥� teikia VR s膮saj膮. Para拧yta sauga, aplinkos tvarumas, apskai膷iuotas ekonominis rodiklis ir 5 met懦 tvarumas. Darbo apimtis: 70 puslapi懦, 31 paveikslas, 8 lentel臈s ir 23 literat奴ros 拧altiniai. Komplekte: bendro vaizdo br臈啪inys (A1 lapas), surinkimo br臈啪inys (A1 lapas), valdymo algoritmas (A2 lapas), konstrukcin臈s ir elektrin臈s schemos (A3 lapas), kinematin臈 schema (A3 lapas), ekonominiai rodikliai (A2 lapas) ir priedai.

This bachelor鈥檚 thesis examines the development of a mobile robot system operated via virtual reality, specifically using the Meta Quest 3 headset. The robot is based on a unicycle design and includes a four-degree-of-freedom robotic arm, allowing for precise remote control in complex or hazardous environments. The study presents an analysis of existing teleoperation systems, followed by a reasoned selection of components. Detailed technical calculations were carried out to determine appropriate motors, gear box and battery capacity. Structural simulations were performed to assess the mechanical durability of the designed part. The control system is built on Raspberry Pi 4, Arduino mega, BLDC motors and servo motors, with Unity providing the VR interface. Safety, environmental sustainability has been written, and economic indicator and 5 years sustainability was calculated. The thesis comprises: 70 pages, 31 figures, 8 tables, and 23 literature sources. Included: general view drawing (A1 sheet), assembly drawing (A1 sheet), control algorithm (A2 sheet), structural and electrical schemes (A3 sheet), kinematic scheme (A3 sheet), economic indicators (A2 sheet) and Appendices included.

Baigiamajame bakalauro darbe pristatomas mikrometrin臈s skiriamosios gebos, trimat臈s (3D) spausdinimo sistemos, skirtos elektrai laid啪i懦 polimerini懦 strukt奴r懦 gamybai, projektavimas ir k奴rimas. Sukurta sistema gali tiksliai valdyti med啪iagos dozavim膮 naudojant 拧virk拧to pagrindu veikianti ekstruzijos mechanizm膮. Baigiamajame darbe buvo atlikta analogini懦 sistem懦 analiz臈, apimanti komponent懦 parinkim膮, j臈gos ir judesio skai膷iavimus, valdymo architekt奴ros projektavim膮 ir veikimo patikimumo vertinim膮. Sukurtas mechanizmas sudarytas i拧 啪ingsninio variklio varan膷io dozavimo mechanizm膮, realaus laiko med啪iagos dozavimo monitoringo naudojant j臈gos jutikl寞. Elektroniniai ir programin臈s 寞rangos komponentai apima 鈥濺aspberry Pi 4B鈥� 寞renginius, 鈥濴abVIEW鈥� pagrindu veikian膷ias valdymo s膮sajas ir CMOS kameros gr寞啪tam膮j寞 ry拧寞 mikroskopiniam pavir拧iaus steb臈jimui. Realaus laiko ekstruzijos valdymas ir tikslumas u啪tikrina auk拧t膮 spausdinam懦 mikrostrukt奴r懦 atkuriamum膮. Bakalauro darb膮 sudaro 寞vadas, analogi拧k懦 konstrukcij懦 ap啪valga, konkre膷i懦 mazg懦 ap啪valga, projekto skai膷iavimas, konstrukcijos ir veikimo schemos apra拧ymas, darb懦 sauga, ekonominiai skai膷iavimas ir i拧vados. Darb膮 sudaro 51 puslapis be pried懦, 15 paveiksl臈li懦, 5 lentel臈s, 27 bibliografiniai 拧altiniai. Br臈啪iniai apima: bendro vaizdo br臈啪in寞 (A1), 寞renginio surinkimo br臈啪in寞 (A1), valdymo algoritm膮 (0,5 lapo A1), strukt奴rin臋 schem膮 (0,25 lapo A1), kinematin臋 schem膮 (0,25 lapo A1), pasirinkt懦 dali懦 darbo br臈啪inius (2 x 0,25 lapo A1), ekonominius rodiklius (0,5 lapo A1).

The final bachelor thesis presents the design and development of a micrometric-resolution three-dimensional (3D) printing system intended for the fabrication of electrically conductive polymer structures. The designed system is capable of precise control over material deposition in the micrometer range, enabled through the integration of a syringe-based extrusion mechanism with motorized stages across X, Y, and Z axes. An analysis of analog systems was conducted, followed by component selection, force and motion calculations, control architecture design, and operational safety assessment. The mechanical assembly features a stepper-motor-driven syringe extruder, real-time extrusion force feedback using a load cell, and movement precision ensured by high-accuracy motorized stages. The electronic and software components include Raspberry Pi 4B units, LabVIEW-based control interfaces, and CMOS camera feedback for microscopic layer observation. Real-time control of extrusion and positioning accuracy ensures high reproducibility in printing microstructures. Bachelor thesis consists of introduction, overview of analogic constructions, overview of specific nodes, calculation of project, description of the construction and operational scheme, work safety, economic calculation and conclusions. Thesis consists of 51 pages, without appendixes, 15 pictures, 5 tables, 27 bibliographic sources. Drawings include: general view drawing (A1), assembly drawing of the device (A1), operational algorithm (0.5 sheet A1), structural scheme (0.25 sheet A1), kinematic scheme (0.25 sheet A1), work drawing of the chosen parts (2x0.25 sheet A1), economic indicators (0.5 sheet A1).

Baigiamajame bakalauro darbe pristatomas kompakti拧kos ir efektyvios mechatronin臈s dvira膷i懦 parkavimo sistemos projektavimo ir k奴rimo procesas, siekiant optimizuoti erdv臈s panaudojim膮, padidinti saugum膮 ir automatizuoti dvira膷i懦 saugojim膮 urbanizuotose aplinkose. Si奴loma mechanini懦 ir elektronini懦 posistemi懦 kombinacija yra skirta pa拧alinti esamas problem懦 sritis dabartin臈se dvira膷i懦 parkavimo sistemose, kurios pasi啪ymi prastu erdv臈s panaudojimu, nesaugumu ir automatizavimo tr奴kumu. Kritiniai tr奴kumai ir inovacij懦 galimyb臈s buvo nustatyti atlikus i拧sami膮 esam懦 parkavimo sistem懦 analiz臋. Remiantis 拧ia analize, buvo sukurta nauja mechatronin臈 sistema, pagr寞sta elektromechaniniu k臈limo mechanizmu, linijiniais kreipian膷iaisiais b臈geliais stabiliam, vertikaliam jud臈jimui, grandin臈s ir 啪vaig啪dut臈s apkrovos perdavimo sistema, bei integruotu servo varikliu valdomu u啪rakinimo mechanizmu. Sistema taip pat apima jutiklius, PLC pagrindu veikian膷i膮 valdymo sistem膮, bei IoT ry拧io galimybes prieigos kontrolei ir i拧maniajam steb臈jimui. Darbe pateikiama mechanin臈 ir konstrukcin臈 analiz臈, komponent懦 parinkimas, stiprio ir galios skai膷iavimai, elektrin臈s bloko schemos ir saugos vertinimai. Taip pat atlikta s膮naud懦 analiz臈 ir sistemos ekonominio gyvybingumo 寞vertinimas. Technin臈je dokumentacijoje pateikiami bendro vaizdo br臈啪iniai, kinematin臈s ir elektrin臈s schemos, surinkimo vaizdai, bei darbo br臈啪iniai. Darb膮 sudaro: 56 puslapiai teksto be pried懦, 24 paveikslai, 13 lenteli懦, 44 literat奴ros 拧altiniai. Grafin臋 dal寞 sudaro: bendro vaizdo br臈啪inys (A1), surinkimo br臈啪inys (A1), valdymo algoritmas (A1), darbo br臈啪inys (A3), strukt奴rin臈 schema (A3), kinematin臈 schema (A2), technologin臈 eskiz臈 (A2), ekonominiai rodikliai (A2). Pridedami priedai.

The final bachelor thesis presents the design and development process of a compact and efficient mechatronic bicycle parking system to optimize space usage, improve safety and automate bicycle storage in urban environments is presented. The combination of mechanical and electronic subsystems proposed is to overcome the existing issues from existing bicycle parking methods that have poor spatial efficiency, are not protected and have no automation. Critical shortcomings and opportunities for innovation were identified by means of a comprehensive analysis of existing parking systems. Since then, a novel mechatronic solution was derived, based on an electromechanical lifting mechanism, linear rail guides for stable vertical motion, a load transfer chain and sprocket system and an integrated servo actuated locking system. The system also gets sensors, PLC based control unit and IoT connectivity for their access control as smart monitoring. The thesis includes mechanical and structural analysis, complete component selection, strength and power calculations, presentation of electrical block schematics and safety assessments. A cost analysis and a feasibility study of the system were also performed to examine its economic viability. The technical documentation includes drawings of general view, kinematic and electrical schemes, assembly views and work drawings. The thesis consists of: 56 p. text without appendixes, 24 pictures, 13 tables, 44 bibliographic sources. The graphical part consists of general view drawing (A1), assembly drawing (A1), control algorithm (A1), work drawing (A3), structure scheme (A3), kinematic scheme (A2), technological sketch (A2), economic indicators (A2). Appendixes included.

Baigiamajame magistro darbe nagrin臈jama suvirint懦 detali懦 pozicionavimo robotizuotose suvirinimo sistemose problema, kurios sprendimas lemia suvirinimo kokyb臋 ir proceso patikimum膮. Tyrimo objektas 鈥� robotizuoto suvirinimo suvirinam懦 komponent懦 pozicionavimo paklaid懦 nustatymo metodai. Darbo tikslas 鈥� palyginti robotin臈se suvirinimo sistemose taikomus metodus, skirtus suvirinam懦 komponent懦 pad臈膷iai erdv臈je nustatyti. Darbo metu atlikta i拧sami literat奴ros analiz臈, 寞vertintas tradicinis (kontaktinis) ir modernus (bekontaktis) pozicionavimo sprendimas. Sukurtas kompiuterinio reg臈jimo principu paremtas matavimo 寞rankis, veikiantis MATLAB aplinkoje, leid啪iantis nustatyti objekt懦 pad臈t寞 pagal vaizd膮 naudojant QR kodo mastelio matavim膮. Tyrimas atliktas dviem etapais 鈥� be roboto ir su robotu. Matavim懦 tikslumui 寞vertinti buvo naudojami statistiniai metodai: vidutin臈s vert臈s, standartiniai nuokrypiai, Z vert臈s. Rezultat懦 analiz臈 parod臈, kad sukurtas 寞rankis leid啪ia gana tiksliai nustatyti komponent懦 pad臈t寞, ta膷iau rezultatai priklauso nuo 寞renginio stabilumo ir aplinkos s膮lyg懦. Pateiktos i拧vados rodo, kad sukurtas kompiuterinio reg臈jimo modulis yra perspektyvus sprendimas robotini懦 suvirinimo sistem懦 pad臈膷iai koreguoti. Darbo apimtis 鈥� 73 p. teksto be pried懦, 41 paveikslas, 13 lenteli懦, 30 literat奴ros 拧altini懦.

The final master's thesis examines the problem of positioning welded parts in robotic welding systems, the solution of which determines the quality of welding and the reliability of the process. The object of the study is research of methods of determining the position of welded components in robotic welding systems. The aim of the work is to compare the methods used in robotic welding systems for determining the position of welded components in space. During the work, a detailed literature analysis was performed, and traditional (contact) and modern (non-contact) positioning solutions were evaluated. A measurement tool based on the principle of computer vision was created, operating in the MATLAB environment, allowing to determine the position of objects from an image using QR code scale measurement. The study was carried out in two stages 鈥� without a robot and with a robot. Statistical methods were used to assess the accuracy of measurements: average values, standard deviations, Z values. The analysis of the results showed that the created tool allows to determine the position of components quite accurately, but the results depend on the stability of the device and environmental conditions. The presented conclusions show that the developed computer vision module is a promising solution for adjusting the position of robotic welding systems. Thesis consists of: 73 p. of text without appendices, 41 figures, 13 tables, 30 references.

Baigiamajame bakalauro darbe pristatoma 鈥淢okomosios roboto cel臈s su robotu ABB CRB 15000鈥� projektavimo procesas. Analitin臈je bakalauro baigiamojo darbo dalyje apra拧oma analogini懦 sistem懦 analiz臈, palyginimai, pateikiamas pasirinkt懦 komponent懦 s膮ra拧as. Projektuojama sistema sudaryta i拧 roboto cel臈s r臈mo, ABB CRB 15000 roboto, konvejerio juostos, ABB OmniCore C30 roboto valdiklio ir valdymo pulto su stovu, 寞ranki懦 laikiklio bei trij懦 griebtuv懦. Griebtuv懦 greito keitimo sistemos, paletizavimo zonos su paletizavimui skirtais kubeliais, bei suvirinimo simuliacin臈s zonos. Projektavimo dalyje atliekami konvejerio skai膷iavimai, variklio parinkimas pagal apskai膷iuotus parametrus, roboto cel臈s r臈mo stiprumo skai膷iavimai, tiriamas r臈mo atsparumas vibracijoms. Paai拧kinamas paletizavimo proced奴ros valdymo principas, pateikiama konvejerio kinematin臈 schema, bei sistemos elektrin臈 blokin臈 schema su parinktais komponentais. Darb懦 saugos ir aplinkosaugos dalyje apra拧omi saugos darbo reikalavimai, standartai. Pateiktos gair臈s teisingam sistemos perdirbimui ir i拧montavimui. Darbe taip pat vertinamos ekonomin臈s s膮naudos, pagaminimo, pardavimo kainos, l奴啪io ta拧ko bei atsipirkimo periodai. Darbo pabaigoje pateikiamos ir pridedami priedai. Darbo apimtis 鈥� 76 psl. teksto be pried懦, 46 iliustracijos, 21 lentel臈s, 41 bibliografini懦 拧altini懦. Grafin臈 dalis sudaryta i拧 bendro vaizdo br臈啪inio (A1), surinkimo br臈啪inio (A1), dviej懦 detali懦 darbo br臈啪ini懦 2x(A3), elektrin臈s-blokin臈s schemos (A3) , ekonomi懦 rodikli懦 (A3), sistemos valdymo algoritmo (A1).

In final bachelor thesis work 鈥淒esign of Educational Robotic Cell with ABB CRB 15000 Gofa Robot鈥� design process is presented. In analytical part of bachelor鈥檚 thesis an analysis of industry examples is performed with comparisons and component selection. The developed system consists of an ABB CRB 15000 GoFa robot, an ABB OmniCore C30 robot controller, and a teach pendant with a stand. Tool stand with three different grippers, tool changer, conveyor belt, palletizing zone, and weld training zone. The calculation part of the bachelor's thesis regards calculations for conveyor belt and motor selection based on performed calculations, strength calculations of frame for educational robotic cell, consideration of frames resistance to frequency. The explanation of palletizing sequence, the kinematic scheme of conveyor belt, and electric block diagram of the designed system with chosen components are presented. The work and environmental safety part of bachelor鈥檚 thesis describes work safety requirements and standards, decommissioning and recycling guidelines for the system are given. The economic part of the bachelor鈥檚 thesis describes economic expenses, selling and production prices of the product, as well as calculations for the break-even point and payback period. Added annexes Work volume: -76 p. of text without annexes, 46 figures, 21 tables, 41 sources. Graphical part consists of general view drawing (A1), assembly drawing (A1), two work drawings of parts 2x(A3), electrical-block diagram (A3), economic indicators (A3), system control algorithm (A1).

Baigiamajame bakalauro darbe projektuojamas vakuuminis roboto griebtuvas, skirtas fotovoltini懦 saul臈s moduli懦 ir stiklo perk臈limo darbams atlikti. Analitin臈je dalyje ap啪velgiami analogi拧ki 寞renginiai, j懦 privalumai ir tr奴kumai, nusprend啪iama kokios konstrukcijos griebtuvas bus reikalingas m奴s懦 aplikacijoje. Projektin臈je dalyje atliekami projektiniai skai膷iavimai - reikiamos j臈gos skai膷iavimas, norint pakelti objekt膮, vakuumo siurbtuk懦 pasirinkimas, vakuumo e啪ektoriaus pasirinkimas, reikiamas kiekis suspausto oro norint altikti aplikacij膮, taip pat 寞vertintos med啪iagos i拧 kuri懦 bus gaminmas griebtuvas ir j懦 savyb臈s. Sudaryta kinematin臈, elektrin臈 - blokin臈 schemos, taip pat sistemos valdymo algoritmas. Sudaryti 寞renginio darb懦 saugos ir aplinkosaugos reikalavimai ir atlikti roboto griebtuvo ekonimini懦 rodikli懦 skai膷iavimai. Darb膮 sudaro 8 dalys: 寞vadas, analogi拧k懦 konstrukcij懦 ap啪valga, projektiniai skai膷iavimai, konstrukcijos ir veikimo principo apra拧umas, darb懦 sauga, ekomoniniai skai膷iavimai, i拧vados ir si奴lymai, literat奴ros s膮ra拧as, priedai. Darbo apimtis 48p. teksto be pried懦, 21 iliustr., 8 lent., 23 bibliografiniai 拧altiniai. Atskirai pridedami darbo priedai

The final bachelor's thesis, a vacuum robot gripper is designed for transfering photovoltaic solar modules and glass. The analytical part reviews analog devices, their advantages and disadvantages, and decides what type of gripper will be needed in our application. In the design part, design calculations are performed 鈥� calculation of the required force to lift the object, selection of vacuum suction cups, selection of a vacuum ejector, the required amount of compressed air to perform the application, as well as the evaluation of the materials from which the gripper will be made and their properties. Kinematic, electrical 鈥� block diagrams, as well as the system control algorithm have been compiled. The safety and environmental requirements of the device's work have been drawn up and the calculations of the economic indicators of the robot gripper have been carried out. The work consists of 8 parts: introduction, overview of analogous constructions, design calculations, description of construction and operating principle, work safety, economic calculations, conclusions and suggestions, bibliography, appendices. The scope of the work is 48 pages of text without appendices, 21 illustrations, 8 tables and 23 bibliographic sources. The work appendices are attached separately.