Oblikovanje postolja za dvoručni robot

undergraduate thesis

• Title (english): Design of a stand for two-handed robot
• Author: Michael Ban
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2016-09-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu provodi se konstrukcija postolja za dvoručnog UR5 robota. Konstrukcija počinje odabirom materijala za postolje i odabirom standardiziranih profila koji se nalaze na tržištu. Nakon toga, proučava se trag baze (eng. footprint) UR5 robota kako bi se procijenilo koja bi se veličina poprečnog presjeka mogla primjeniti.

Procijenjena veličina poprečnog presjeka profila, analizira se metodom konačnih elemenata koja pokazuje je li procjena dobra. Nakon konstrukcije osnovnog dijela postolja, slijedi dodavanje elemenata koji će osigurati stabilnost konstrukcije, te smanjiti naprezanja u osnovnom dijelu postolja. Nakon toga slijedi konstrukcija trokutastog nosača stola, te se riješava problem njegove montaže na postolje. Za spajanje robota s postoljem, konstruiraju se spojni elementi, čiji oblik proizlazi iz optimizacije orijentacije baze. Analizom težine postolja odabiru se kotači i noge. Za kraj, prikazuje se kalibracijski alat za kalibraciju robota nakon montaže i demontaže postolja.

Abstract (english)

In this paper, the construction for the stand of the two-handed UR5 robot is carried out. Construction begins with the selection of stand material and standardized profiles which are available on the market. After that, the footprint of UR5 robot, to estimate which dimension of cross-section is applicable, is examined. The chosen profile is analyzed with FEM that indicates whether the estimation was good. After the construction of the base elements of the stand, followed by addition of elements which will secure the construction stability and reduce stress in the base elements of the stand, the construction of triangular table carrier is made and the problem of fitting the stand is being solved. To connect the robot to the stand, the coupling elements are being constructed, whose shape is derived from the optimization of the robot base orientation. Legs and wheels are chosen by analyzing the stand weight. In the end, the calibration tool is presented for calibration of robot after assembly and disassembly of the stand.

• Keywords: dvoručni robot; postolje; mke; stabilnost; kalibracija
• Keywords (english): two-handed robot; stand; FEM; stability; calibration
• Language: croatian
• URN:NBN: urn:nbn:hr:235:092202
• 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: 2019-05-22 17:15:52