Projektiranje i upravljanje vozilom pogonjenim stlačenim zrakom

undergraduate thesis

• Title (english): Design and control of a compressed air powered vehicle
• Author: Šime Grbić
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-02-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj rad bavit će se projektiranjem i izradom mobilnog robota odnosno autonomnog vozila pokretanog stlačenim zrakom, točnije pneumatskim mišićima. Takvo vozilo bilo bi ekološki prihvatljivije od sadašnjh vozila koja zagađuju okoliš. Na početku biti će objašnjeni osnovni pojmovi o vozilima i načinima njihova pokretanja, a dotaknut će se i mobilnih robota kao i pneumatskih robota čija svojstva ovo vozilo objedinjuje. Nadalje, objasnit će se rad i primjena pneumatskih mišića te izazovi, ali i prednosti koje se javljaju pri njihovom korištenju. Primjenom CAD alata prikazat će se konstrukcija cijelog vozila, ali i pojedinih komponenata bitnih za pogon ili upravljanje vozila. Također će se opisati sastavni dijelovi energetskog i upravljačkog sustava te ćemo se upoznati s njihovim radom. Na kraju će se prikazati rezultati te će se ovo vozilo usporediti s tradicionalnijim pogonskim rješenjima, a također će se navesti i planovi za budući razvoj i poboljšanje rada.

Abstract (english)

In this paper we examine the designing and building of a mobile robot or autonomous vehicle driven by compressed air or pneumatic muscles respectively. Such vehicle would be ecologically more acceptable than today's vehicles. At the beginning of the paper there is a brief introduction into vehicles and their propulsion systems, mobile and pneumatic robots will also be mentioned and explained since this vehicle combines their features. Furthermore, the working principle and the application of the pneumatic muscles will be explained, and so will be the problems encountered but also the advantages of pneumatic muscles. Using CAD software the entire construction of the vehicle will be shown. The components significant for the propulsion or the steering will also be described, and the description of the power system, as well as the the controlling system will be given. Finally the results will be given and the pneumatic propulsion will be compared against more traditional propulsion methods.

• Keywords: vozilo; pneumatsko vozilo; pneumatski mišić; mobilni robot
• Keywords (english): vehicle; pneumatic vehicle; pneumatic muscle; mobile robot
• Language: croatian
• URN:NBN: urn:nbn:hr:235:170680
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-23 00:18:16