Проєктування навчального стенда з ABB IRB 120 для онлайн та офлайн програмування

The aim of this research is an educational robotic cell with an ABB IRB 120 that unifies the needs of university teaching and industrial training into a single modular and robust solution. The concept is based on a reconfigurable frame, standardized interfaces, and a design that prioritizes ease of part fabrication and maintenance. By leveraging a digital twin in ABB RobotStudio, offline programming, trajectory verification, and seamless transfer to online mode are enabled without interrupting operation. The work includes a comparison of available market stands according to criteria such as robustness, safety, flexible tool exchange, cost, and serviceability. We model multiple work configurations and end-effector variants while analyzing the relationship between the maximum mass of the handled object and jaw pressure based on static equilibrium, friction coefficient, and grasp geometry. Laboratory verification monitors cycle time, positioning accuracy, and repeatability, demonstrating the applicability of the solution for standardized exercises and operator training. The proposed cell lays the groundwork for further extensions, including machine vision, advanced safety functions, and IoT integration for real-time data collection and evaluation.