Oblikovanje i izrada mobilnog robota pokretanog nogama

master's thesis

• Title (english): Design and manufacture of a legged mobile robot
• Author: Ivan Milković
• Mentor: Petar Ćurković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-01-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Mobilna robotika sve više je prisutna u svakodnevnom životu. Sve češće ju pronalazimo u našim domovima, industriji, medicini, za vojne upotrebe te hobistički. Glavni gradivni materijali mobilnih robota su polimeri radi svojih dobrih mehaničkih svojstava te male mase. Trenutno su sve veća ulaganja i razvoj 3D printera i aditivnih metoda što omogućuje proizvodnju kompleksnih dijelova. Aditivne tehnologije proizvodnje omogućile su razvoj drugih tehnologija za optimiranje mase i krutosti. Sve više u industriji možemo pronaći komponente koje imaju optimiranu topologiju, no sve više prodire i nova tehnologija generativnog dizajna. Ona omogućuje kreiranje optimiranih struktura iz nule, bez konstruktorovog početnog modela, te se nakon predloženih optimiranih dijelova rade prototipovi za daljnju proizvodnju. Dizajnirani mobilni robot izrađen je od polimernog materijala ABS. Pokretan je nogama te ima 8 rotacijskih stupnjeva slobode. Noge su pokretane s osam NEMA17 elektromotora. Komponente robota optimirane su pomoću generativnog dizajna, te topološkog optimiranja. Usporedbom tih dviju metoda odabrana je konstrukcija s manjom masom kako bi mu se omogućilo lakše pokretanje. Motori robota kontrolirani su pomoću dasduino mikrokontrolera, na bazi arduina, od hrvatskog proizvođača Soldereda.

Abstract (english)

Mobile robotics is increasingly present in everyday life. We can find it more and more often in our homes, industry, medicine, for military and hobby use. The main building materials of mobile robots are polymers due to their good mechanical properties and low mass. Currently, there are increasing investments and development of 3D printers and additive production methods, which enables the production of complex parts. Additive manufacturing technologies enabled the development of other technologies to optimize mass and stiffness. More and more in the industry we can find components that have an optimized topology, but the new technology of generative design is becoming more present. It enables the creation of optimized structures from scratch, without the constructor's initial model, and after the proposed optimized parts, prototypes are made for further production. The designed mobile robot is made of polymer material ABS. It is moved by legs and has 8 rotational degrees of freedom. The legs are powered by eight NEMA17 electric motors. Robot components were optimized using generative design and topological optimization. By comparing these two methods, a construction with a lower mass was chosen to enable it to be started more easily. The robot's motors are controlled using a dasduino microcontroller, based on arduino, from a Croatian manufacturer Soldered.

• Keywords: mobilni roboti; roboti pokretani nogama; topološko optimiranje; generativni dizajn
• Keywords (english): mobile robots; robots actuated by legs; topology optimization; generative design
• Language: croatian
• URN:NBN: urn:nbn:hr:235:208229
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-01-22 16:53:28