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After Width: | Height: | Size: 26 KiB |
|
|
@ -51,7 +51,7 @@
|
|||
% u obhajoby semestrální práce se oponent nezobrazuje (jelikož neexistuje)
|
||||
% cSpell:disable-next-line
|
||||
% U dizertační práce jsou typicky dva až tři oponenti. Pokud je chcete mít na titulním slajdu, prosím ručně odkomentujte a upravte jejich jména v definici "VUT title page" v souboru thesis.sty.
|
||||
\opponent[doc.\ Mgr.]{Křestní}{Příjmení}[Ph.D.]
|
||||
\opponent[Ing.]{Marek}{Sedlařík}
|
||||
|
||||
%%% Název práce
|
||||
% Parametr ve složených závorkách {} je název v originálním jazyce,
|
||||
|
|
|
|||
240
tex/obhajoba.tex
240
tex/obhajoba.tex
|
|
@ -43,7 +43,6 @@
|
|||
\usepackage{booktabs} % Balíček, který umožňuje v tabulce používat
|
||||
% příkazy \toprule, \midrule, \bottomrule
|
||||
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
%%%%%% Definice informací o dokumentu %%%%%%%%%%
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -88,6 +87,26 @@
|
|||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
% nadpis snímku
|
||||
\frametitle{Cíle práce}
|
||||
\begin{itemize}
|
||||
\item Teoretická část
|
||||
\begin{itemize}
|
||||
\item Seznámit se s kinematikou SCARA {\color{green}\faIcon{check}}
|
||||
\item Provést srovnání kinematik FFF 3D tiskáren {\color{green}\faIcon{check}}
|
||||
\end{itemize}
|
||||
\item Praktická část
|
||||
\begin{itemize}
|
||||
\item Navrhnout konstrukční řešení SCARA 3D tiskárny {\color{green}\faIcon{check}}
|
||||
\item Vybrat komponenty pro stavbu 3D tiskárny {\color{green}\faIcon{check}}
|
||||
\item Implementovat kinematiku do firmwaru Klipper {\color{green}\faIcon{check}}
|
||||
\item Sestavit 3D tiskárnu, zkalibrovat a otestovat ji {\color{green}\faIcon{check}}
|
||||
\end{itemize}
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
%%%%%%%%%%%%%
|
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\begin{frame}
|
||||
|
||||
|
|
@ -114,28 +133,18 @@
|
|||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
% nadpis snímku
|
||||
\frametitle{Cíle práce}
|
||||
\begin{itemize}
|
||||
\item Teoretická část
|
||||
\begin{itemize}
|
||||
\item Seznámit se s kinematikou SCARA {\color{green}\faIcon{check}}
|
||||
\item Provést srovnání kinematik FFF 3D tiskáren {\color{green}\faIcon{check}}
|
||||
\end{itemize}
|
||||
\item Praktická část
|
||||
\begin{itemize}
|
||||
\item Navrhnout konstrukční řešení SCARA 3D tiskárny {\color{green}\faIcon{check}}
|
||||
\item Vybrat komponenty pro stavbu 3D tiskárny {\color{green}\faIcon{check}}
|
||||
\item Implementovat kinematiku do firmwaru Klipper {\color{green}\faIcon{check}}
|
||||
\item Sestavit 3D tiskárnu, zkalibrovat a otestovat ji {\color{green}\faIcon{check}}
|
||||
\end{itemize}
|
||||
\end{itemize}
|
||||
\frametitle{SCARA kinematika}
|
||||
\begin{figure}
|
||||
\includegraphics[height=0.5\textheight]{images/obhajoba/scara/scara.png}
|
||||
\caption{Pracovní prostor SCARA robotu}
|
||||
\label{fig:scara-kinematics}
|
||||
\end{figure}
|
||||
\end{frame}
|
||||
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
|
||||
\frametitle{Konstrukce}
|
||||
\frametitle{Konstrukce -- Přehled}
|
||||
|
||||
\begin{minipage}[t]{0.7\textwidth}
|
||||
\begin{figure}
|
||||
|
|
@ -171,29 +180,7 @@
|
|||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
|
||||
\frametitle{Modely dílů}
|
||||
|
||||
\begin{minipage}[t]{0.49\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[height=0.6\textheight]{images/obhajoba/floating-hole-cad.png}
|
||||
\caption{Plovoucí otvor}
|
||||
\label{fig:floating-hole-cad}
|
||||
\end{figure}
|
||||
\end{minipage}
|
||||
\begin{minipage}[t]{0.49\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[height=0.6\textheight]{images/obhajoba/floating-hole-slicer.png}
|
||||
\caption{Plovoucí otvor ve sliceru}
|
||||
\label{fig:floating-hole-slicer}
|
||||
\end{figure}
|
||||
\end{minipage}
|
||||
|
||||
\end{frame}
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
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|
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\frametitle{Tiskárna}
|
||||
\frametitle{Konstrukce -- Celá sestava}
|
||||
|
||||
\begin{columns}[onlytextwidth,b]
|
||||
\begin{column}{0.4\textwidth}
|
||||
|
|
@ -219,11 +206,11 @@
|
|||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
|
||||
\frametitle{Rameno}
|
||||
\frametitle{Konstrukce -- Sestava ramene}
|
||||
\begin{figure}
|
||||
\centering
|
||||
\includegraphics[height=0.6\textheight]{images/obhajoba/Arm_Assembly_Isometric_Front.png}
|
||||
\caption{Izometrické zobrazení ramene}
|
||||
\caption{Izometrické zobrazení sestavy ramene}
|
||||
\label{fig:arm}
|
||||
\end{figure}
|
||||
|
||||
|
|
@ -232,20 +219,34 @@
|
|||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
|
||||
\frametitle{Elektronika}
|
||||
\frametitle{Elektronika -- Schéma zapojení}
|
||||
\begin{figure}
|
||||
\centering
|
||||
\includegraphics[height=0.6\textheight]{images/2_prakticka_cast/schema/schema_zapojeni.png}
|
||||
\caption{Schéma zapojení}
|
||||
\label{fig:schema}
|
||||
\end{figure}
|
||||
|
||||
\end{frame}
|
||||
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
|
||||
\frametitle{Elektronika -- Napájení a řízení}
|
||||
\centering
|
||||
|
||||
\begin{minipage}[t]{0.74\textwidth}
|
||||
\begin{itemize}
|
||||
\item Řídící deska: \textbf{BTT SKR 1.4} + \textbf{BTT DCDC MODE}
|
||||
\item Driver: 4\(\times\)\textbf{BTT TMC2209}
|
||||
\item Řadiče: 4\(\times\)\textbf{BTT TMC2209}
|
||||
\item Mikropočítač: \textbf{Raspberry Pi 2b}
|
||||
\item Displej: \textbf{BTT PiTFT43}
|
||||
\item Zdroj: \textbf{MeanWell SP-320-12}
|
||||
\item Ventilátory: 2\(\times\)\textbf{SUNON MF60151V1-1000U-A99}
|
||||
\item Napájecí konektor: \textbf{JR-101-1F}
|
||||
\item Kolébkový spínač: \textbf{RS2013C3BK}
|
||||
\item RJ45 keystone: \textbf{Datacom 4003}
|
||||
\item Prodlužovací kabel USB
|
||||
\item Kabeláž:
|
||||
\begin{itemize}
|
||||
\item \textbf{UL1332 0,34~\(\text{mm}^2\)} a \textbf{0,75~\(\text{mm}^2\)} (FEP)
|
||||
|
|
@ -267,7 +268,7 @@
|
|||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
|
||||
\frametitle{Tisková hlava}
|
||||
\frametitle{Elektronika -- Tisková hlava}
|
||||
\centering
|
||||
|
||||
\begin{minipage}[t]{0.7\textwidth}
|
||||
|
|
@ -281,14 +282,14 @@
|
|||
\item Radiální: \textbf{2~\(\times\)~12V 4010}
|
||||
\item Axiální: \textbf{1~\(\times\)~12V 3010}
|
||||
\end{itemize}
|
||||
\item Bowden trubička: \textbf{PTFE, ID~2 mm, OD 4~mm}
|
||||
\item Bowden trubička: \textbf{PTFE} (ID~2 mm, OD 4~mm)
|
||||
\item Teplovodivá pasta: \textbf{Nitrid Boritý}
|
||||
\end{itemize}
|
||||
\end{minipage}
|
||||
\begin{minipage}[t]{0.29\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[width=\textwidth]{images/2_prakticka_cast/Toolhead_Assembly_Isometric_Rear.png}
|
||||
\caption{Izometrický pohled ze zadní strany}
|
||||
\caption{\centering{Izometrický pohled ze zadní strany}}
|
||||
\label{fig:toolhead-rear}
|
||||
\end{figure}
|
||||
\end{minipage}
|
||||
|
|
@ -296,15 +297,59 @@
|
|||
\end{frame}
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
\begin{frame}[fragile]
|
||||
|
||||
\frametitle{Schéma zapojení}
|
||||
\begin{figure}
|
||||
\centering
|
||||
\includegraphics[height=0.6\textheight]{images/2_prakticka_cast/schema/schema_zapojeni.png}
|
||||
\caption{Schéma zapojení}
|
||||
\label{fig:schema}
|
||||
\end{figure}
|
||||
\frametitle{Firmware}
|
||||
\centering
|
||||
|
||||
\begin{itemize}
|
||||
% cSpell:ignore chelper
|
||||
\item \verb|klipper/klippy/chelper/__init__.py|
|
||||
\begin{itemize}
|
||||
\item Slouží jako wrapper pro kód implementovaný v~jazyce C
|
||||
\item Obsahuje mj. hlavičky metod a~nastavení překladače
|
||||
\end{itemize}
|
||||
\item \verb|klipper/klippy/chelper/kin_scara.c|
|
||||
\begin{itemize}
|
||||
\item Implementace inverzní kinematiky
|
||||
\end{itemize}
|
||||
\item \verb|klipper/klippy/kinematics/scara.py|
|
||||
\begin{itemize}
|
||||
\item Implementace přímé kinematiky
|
||||
\item Inicializace kinematiky
|
||||
\item Validace pohybu
|
||||
\item Homing procedura
|
||||
\item \dots
|
||||
\end{itemize}
|
||||
\end{itemize}
|
||||
\end{frame}
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
\begin{frame}[fragile]
|
||||
|
||||
\frametitle{Kalibrace}
|
||||
|
||||
\begin{minipage}[t]{0.49\textwidth}
|
||||
Jednorázové kalibrace:
|
||||
\begin{itemize}
|
||||
\item PID kalibrace topného tělesa extruderu
|
||||
\item Kalibrace kroku extruderu
|
||||
\item Kalibrace první vrstvy (Z Offset Calibration)
|
||||
\item Měření rezonančních frekvencí (Shaper Calibration)
|
||||
\end{itemize}
|
||||
\end{minipage}
|
||||
\begin{minipage}[t]{0.49\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[width=\textwidth]{images/obhajoba/pid-calibration.png}
|
||||
\caption{\centering{Průběh PID kalibrace topného tělesa}}
|
||||
\label{fig:pid-calibration}
|
||||
\end{figure}
|
||||
\end{minipage}
|
||||
|
||||
Při každém tisku je součástí \verb|PRINT_START| makra:
|
||||
\begin{itemize}
|
||||
\item Automatická kalibrace podložky (Bed Mesh Leveling)
|
||||
\end{itemize}
|
||||
|
||||
\end{frame}
|
||||
|
||||
|
|
@ -338,20 +383,18 @@
|
|||
%%%%%%%%%%%%%
|
||||
\begin{frame}
|
||||
\frametitle{Závěr}
|
||||
V rámci semestrální práce jsem:
|
||||
V rámci zpracovávání bakalářské práce jsem:
|
||||
\begin{itemize}
|
||||
\item zpracoval teorii,
|
||||
\item navrhl některé díly 3D tiskárny,
|
||||
\item a vybral vhodné elektronické komponenty.
|
||||
\end{itemize}
|
||||
V rámci zpracovávání bakalářské práce jsem:
|
||||
\begin{itemize}
|
||||
\item dokončil návrh všech dílů
|
||||
\item vybral vhodné elektronické komponenty,
|
||||
\item dokončil návrh všech dílů,
|
||||
\item sestavil finální seznam materiálu a nakoupil jej,
|
||||
\item implementoval kinematiku SCARA do firmwaru Klipper,
|
||||
\item sestavil tiskárnu, nakonfiguroval tiskárnu a otestoval ji
|
||||
\item sestavil tiskárnu, nakonfiguroval tiskárnu a otestoval ji,
|
||||
\item připravil profil pro PrusaSlicer.
|
||||
\end{itemize}
|
||||
Vše dostupné na \href{https://github.com/fekt-scara}{github.com/fekt-scara}
|
||||
\end{frame}
|
||||
|
||||
%%%%%%%%%%%%%
|
||||
|
|
@ -379,11 +422,68 @@
|
|||
\end{frame}
|
||||
|
||||
% otázky oponenta
|
||||
% \frame{
|
||||
% \frametitle{Otázky oponenta}
|
||||
% \emph{Jaká je souvislost Vašeho vzorce (1.2) s~ rovnicemi v~integrálním tvaru?}\\[2ex]
|
||||
% %
|
||||
% Již staří Římané\,\dots
|
||||
% }
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Otázky oponenta (1/3)}
|
||||
|
||||
\emph{Jaký vliv má délka ramen SCARA mechanismu na přesnost a stabilitu pohybu?}\\[2ex]
|
||||
|
||||
\begin{columns}[onlytextwidth,t]
|
||||
\begin{column}{0.49\textwidth}
|
||||
\begin{itemize}
|
||||
\item Čím je délka ramen (segmentů) větší, tím větší může být moment setrvačnosti celého ramene. Důsledkem toho může při vyšších hodnotách zrychlení docházet k zákmitům ramene, který způsobuje jev zvaný Ringing nebo Ghosting.
|
||||
\end{itemize}
|
||||
\end{column}
|
||||
\begin{column}{0.49\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[width=\textwidth]{images/obhajoba/ringing.png}
|
||||
\caption{\centering{Ringing/Ghosting}}
|
||||
\label{fig:ringing}
|
||||
\end{figure}
|
||||
\end{column}
|
||||
\end{columns}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Otázky oponenta (2/3)}
|
||||
|
||||
\emph{Jaké další alternativy je možné pro řízení SCARA tiskárny použít jiný firmware než Klipper a v čem se liší?}\\[2ex]
|
||||
\begin{itemize}
|
||||
\item Lze použít firmware \verb|Marlin|. Firmwary se liší zejména v jazycích implementace a architektuře firmwaru.
|
||||
\end{itemize}
|
||||
|
||||
\begin{columns}[onlytextwidth,t]
|
||||
\begin{column}{0.49\textwidth}
|
||||
|
||||
\begin{figure}
|
||||
\includegraphics[height=0.16\textheight]{images/obhajoba/architecture-klipper.png}
|
||||
\caption{\centering{Architektura firmwaru Klipper}}
|
||||
\label{fig:architecture-klipper}
|
||||
\end{figure}
|
||||
\end{column}
|
||||
\begin{column}{0.49\textwidth}
|
||||
\begin{figure}
|
||||
\includegraphics[height=0.16\textheight]{images/obhajoba/architecture-marlin.png}
|
||||
\caption{\centering{Architektura firmwaru Marlin}}
|
||||
\label{fig:architecture-marlin}
|
||||
\end{figure}
|
||||
\end{column}
|
||||
\end{columns}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[fragile]
|
||||
\frametitle{Otázky oponenta (3/3)}
|
||||
|
||||
\emph{Jaký parametr má největší vliv na přesnost inverzní kinematiky?}\\[2ex]
|
||||
\begin{itemize}
|
||||
\item Největší vliv mají délky segmentů ramene -- zejména délka segmentu \verb|L1|. Délka segmentu \verb|L1| proto, že přesnost délky prvního segmentu ovlivní přesnost druhého segmentu.
|
||||
\end{itemize}
|
||||
|
||||
|
||||
\begin{figure}
|
||||
\includegraphics[height=0.4\textheight]{images/obhajoba/scara/scara.png}
|
||||
\caption{Pracovní prostor SCARA robotu}
|
||||
\label{fig:scara-kinematics}
|
||||
\end{figure}
|
||||
\end{frame}
|
||||
|
||||
\end{document}
|
||||
|
|
|
|||
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Reference in a new issue