| Abstract | U ovom radu opisan je razvoj novog sustava ovjesa za robot ASTRO, koji služi kao platforma za poučavanje studenata o programiranju i upravljanju mobilnih robota. Osnovni problem postojećeg ovjesa je taj da robot ne može prelaziti prepreke na podu te gubi potreban kontakt s podlogom na pogonskim kotačima. Stoga je osnovni cilj preinake ovjesa osigurati da robot prelazi pragove, kablove i slične prepreke do 10 mm visine, uz zadržavanje postojećeg pogonskog sklopa, kućišta i rasporeda preostalih elektroničkih komponenata. Također, poželjno je da predloženo rješenje bude što jednostavnije i cjenovno prihvatljivo za proizvodnju i održavanje u obrazovnom okruženju. U uvodu je predstavljen pregled mobilnih robota i njihovih različitih primjena. Zatim je provedena analiza robota za koji je potrebno konstruirati ovjes. Analizirani su glavni dijelovi robota i njegov princip rada, čime su definirani rubni uvjeti i ključni problemi koje je potrebno riješiti. Kao rezultat te analize, kreirana je lista zahtjeva koje novi ovjes mora ispunjavati. Nakon definiranja zahtjeva, provedena je analiza tržišta, s naglaskom na ovjese mobilnih robota, kako bi se dobilo razumijevanje o načelima rada takvih sustava. Po završetku analize tržišta, započela je faza razvoja koncepata koja je obuhvatila definiranje funkcija, izradu shematskih i 3D koncepata te odabir najboljeg koncepta prema kriterijima koji su proizašli iz konstrukcijskih zahtjeva. Nakon koncipiranja slijedilo je početno oblikovanje odabranog koncepta te izrada i testiranje prototipa. Testiranjem prvog prototipa dobivene su povratne informacije za daljnju razradu konstrukcije, pri čemu je, uz ovjes, poseban naglasak stavljen na osiguranje adekvatne zaštite od ulaska prašine u kućište. Tijekom konstrukcijske razrade korištene su DfX smjernice, a rezultat tog procesa bio je još jedan prototip koji je testiran u stvarnim uvjetima vožnje s ciljem ispitivanja cjelokupnog konstrukcijskog rješenja. |
| Abstract (english) | This paper describes the development of a new suspension system for the ASTRO robot, which serves as a platform for teaching students about programming and controlling mobile robots. The main issue with the existing suspension is that the robot cannot overcome obstacles on the floor and loses necessary contact with the surface on its driving wheels. Therefore, the primary goal of modifying the suspension is to ensure that the robot can cross thresholds, cables, and similar obstacles up to 10 mm in height, while retaining the existing drive assembly, housing, and arrangement of other electronic components. Additionally, it is desirable that the proposed solution is as simple and cost-effective as possible to produce and maintain in an educational environment. The introduction presents an overview of mobile robots and their various applications. Then, an analysis of the robot for which the suspension needs to be designed was conducted. The main components of the robot and its operating principle were analyzed, defining the boundary conditions and key issues that need to be addressed. As a result of this analysis, a list of requirements that the new suspension must meet was created. After defining the requirements, a market analysis was carried out, with a focus on mobile robot suspensions, to gain an understanding of the working principles of such systems. Upon completion of the market analysis, the concept development phase began, which included defining functions, creating schematic and 3D concepts, and selecting the best concept according to criteria derived from the design requirements. Following the conceptualization, the initial design of the chosen concept was developed, and a prototype was created and tested. Testing of the first prototype provided feedback for further development of the design, with particular emphasis on ensuring adequate dust protection for the housing, in addition to the suspension. During the design process, DfX guidelines were used, and the result of that process was another prototype, which was tested in real driving conditions to evaluate the overall design solution. |
