Mobilna platforma sa samo-nivelirajućim postoljem

undergraduate thesis

• Title (english): Mobile platform with self-leveling base
• Author: Lovro Lasić
• Mentor: Ivica Galić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2025-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Mobilna platforma temelji se na principu žiroskopa, a njezina funkcija je održavanje
vodoravnosti postolja robotske ruke pri kretanju kroz izazovne terene.
Sustav se sastoji od prstenova povezanih ležajevima koji omogućuju rotaciju oko dviju
međusobno okomitih osi. Uteg smješten na postolju pomaže u održavanju ravnoteže i
stabilnosti sustava, čime se smanjuje utjecaj vanjskih poremećaja.
U drugoj fazi, platforma postaje aktivna montažom senzora na postolje koji mjere njegove
nagibe. Elektromotori, putem sustava užeta i bubnjeva, kontroliraju te nagibe i omogućuju
preciznu korekciju orijentacije. Postolje postaje samo-nivelirajuće, čime automatski održava
stabilnost i ravnotežu bez potrebe za vanjskom intervencijom. Ovaj sustav omogućuje
autonomnu stabilizaciju u promjenjivim uvjetima i povećava učinkovitost platforme.
Na kraju, integracija gusjenica omogućuje mobilnost platforme na različitim podlogama, čime
se proširuje njezina funkcionalnost i primjena, osobito po teškim ili neurednim terenima.

Abstract (english)

The mobile platform is based on the principle of a gyroscope, and its function is to maintain the
horizontal orientation of the robotic arm's base while moving through challenging terrains.
The system consists of rings connected by bearings that allow rotation around two mutually
perpendicular axes. A weight placed on the base helps maintain balance and stability, reducing
the impact of external disturbances.
In the second phase, the platform becomes active by mounting sensors on the base that measure
its tilts. Electric motors, through a system of ropes and winch drums, control these tilts and
enable precise orientation adjustments. The base becomes self-leveling, automatically
maintaining stability and balance without the need for external intervention. This system
enables autonomous stabilization in changing conditions and increases the platform's
efficiency.
Finally, the integration of tracks enables the platform's mobility on various surfaces, expanding
its functionality and application, especially in rough or uneven terrains.

• Keywords: Mobilna platforma; žiroskop; stabilizacija
• Keywords (english): Mobile platform; gyroscope; stabilization
• Language: croatian
• URN:NBN: urn:nbn:hr:235:408699
• 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: 2025-02-23 20:35:55