Manipulatorska ruka za gusjeničarsko vozilo

master's thesis

• Title (english): Manipulator arm for tracked vehicle
• Author: Ante Pavković
• Mentor: Matija Hoić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-05-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Konstantna ratna zbivanja u svijetu uzrokuju zakrčenost velike količine zemlje miniranim područjima, što čini zemljište neuporabljivim za razvoj infrastrukture. Kako bi se proces razminiravanja ubrzao te učinio sigurnim za čovjeka, počele su se razvijati kompanije koje izrađuju specijalizirana vozila za razminiravanje. Jedno od takvih vozila je MV-2 koje proizvodi DOK-ING, za koje je potrebno konstruirati manipulatorsku ruku za određene tehničke zahtjeve. Kroz rad je prikazan kompletan proces konstrukcijske razrade navedene ruke. Započeto je s pregledom postojećih vozila u arsenalu DOK-ING-a, te su se analizirala slična rješenja s tržišta konkurentnih kompanija kako bi se dobila bliža slika u kojem smjeru bi razrada modela ruke trebala ići. Nadalje, kreirano je par koncepata iz podataka pregledanog tržišta kako bi se uvidjelo koja tehnička rješenja optimalno zadovoljavaju tehničke zahtjeve. Nakon izrade kostura CAD modela, izrađen je proračunski model koji je uvelike ubrzao iterativnu fazu pozicioniranja i odabira upravljačkih hidrauličkih cilindara. Proveden je proračun stabilnosti i čvrstoće kritičnih komponenti na ruci, te je opisan smještaj svih potrebnih komponenti na ruci kako bi se osigurao siguran rad operatera. Za kraj, izvršena je provjera svih tehničkih zahtjeva.

Abstract (english)

Constant war events in the world cause congestion of a large amount of land with mined areas, which makes the land unusable for infrastructure development. In order to speed up the demining process and make it safe for people, companies that produce specialized demining vehicles have started to develop. One such vehicle is the MV2 of the DOK-ING company, for which a manipulator arm needs to be designed for certain technical requirements. The paper presents the complete process of developing the construction of the aforementioned hand. The revision of the existing vehicles started with those in the arsenal of DOK-ING, and similar solutions from the market of competing companies were analyzed in order to get a closer picture of the direction in which the development of the manual model should go. Furthermore, several concepts were created from the data of the reviewed market in order to see which technical solutions optimally meet the technical requirements. After creating the skeleton of the CAD model, a computational model was created that greatly accelerated the iterative phase of positioning and selecting the control hydraulic cylinders. The calculation of stability and strength of the critical components on the arm was carried out and the position of all necessary components on the arm was described in order to ensure the safe operation for the operator. Finally, all technical requirements were check.

• Keywords: razvoj; konstrukcija; manipulatorska ruka; hidraulički cilindri; razminiravanje
• Keywords (english): development; construction; manipulator arm; hydraulic cylinders; demining
• Language: croatian
• URN:NBN: urn:nbn:hr:235:187383
• 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: Embargoed access; Embargo expiration date: 2029-05-15
• Created on: 2024-05-14 08:10:16