Konstrukcijsko rješenje šesteroosne robotske ruke za pozicioniranje video kamere

master's thesis

• Title (english): Design solution of a six-axis robotic arm for video camera positioning
• Author: David Kremenjaš
• Mentor: Dragan Žeželj (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

Tema ovog diplomskog rada je konstrukcija šesteroosne robotske ruke za pozicioniranje video kamere. U uvodnom dijelu rada ukratko je opisana povijest robota i robotskih ruku. Nakon uvoda, provedena je analiza tržišta robotskih ruku namijenjenih za snimanje kamerom, kako bi se dobile okvirne smjernice za razvoj ove robotske ruke. U nastavku su obrađene pojedine teme koje će imati utjecaj na razvoj robota, poput odabira vrste elektromotora, prijenosnika, ležajeva, materijala komponenti itd. Idući korak u radu je izrada početnog pojednostavljenog modela robotske ruke koji je poslužio za izradu dinamičkih simulacija gibanja napravljenih u programskom paketu ADAMS ®, a čiji rezultati su kasnije korišteni prilikom dimenzioniranja sustava. S dobivenim rezultatima simulacije, provedeni su proračuni snaga i momenata motora i prijenosnika. U završnom dijelu rada dan je kratki pregled izvedbi gibanja robota po linearnim vodilicama te je napravljena topološka optimizacija prvog link-a robotske ruke u programskom paketu Abaqus ®. Tehnička dokumentacija i 3D model robotske ruke su napravljeni u programskom paketu SolidWorks ®.

Abstract (english)

The topic of this master's thesis is the construction of a six-axis robotic arm for positioning a video camera. In the introductory part of the thesis, a brief overview of the history of robots and robotic arms is provided. Following the introduction, a market analysis of robotic arms intended for camera recording was conducted to provide initial guidelines for the development of this robotic arm. Subsequently, various topics influencing the robot's development were addressed, such as the selection of motor type, transmission, bearings, component materials, etc. The next step in the work was the creation of an initial simplified model of the robotic arm, which served for the creation of dynamic motion simulations carried out in the ADAMS® software package, the results of which were later used in system dimensioning. Based on the simulation results obtained, calculations of motor and transmission power and torque were performed. In the final part of the thesis, a brief overview of robot motion performances along linear guides was provided, and a topological optimization of the first link of the robotic arm was conducted using the Abaqus® software package. Technical documentation and a 3D model of the robotic arm were created using the SolidWorks® software package.

• Keywords: robotska ruka; servomotor; harmonijski prijenosnik; topološka optimizacija; simulacija dinamike
• Keywords (english): robotic arm; servomotor; harmonic drive; topology optimization; dynamic simulation
• Language: croatian
• URN:NBN: urn:nbn:hr:235:106778
• 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: 2024-05-14 20:27:18