Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima

undergraduate thesis

• Title (english): Design of a two legged walking robot driven by pneumatic artificial muscles
• Author: Andrija Gložinić
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-02-23, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Tema ovog rada je projektiranje autonomnog humanoidnog mobilnog robota pokretanog umjetnim pneumatskim mišićima. Dvonožni hod predstavlja jedan on najsloženijih dinamičkih procesa u robotici. Postizanje stabilnosti takvih sustava zahtijeva dobro osmišljenu konstrukciju i adekvatan upravljački algoritam. Autonomnost mobilnog pneumatskog robota podrazumijeva vlastito napajanje zrakom.

Rad se ponajprije bavi projektiranjem mehaničke konstrukcije hodajućeg dvonožnog robota. Predloženi su svi potrebni djelovi za izradu humanoidnog robota. Predložene su smjernice za praktičnu izvedbu konstrukcije i opisan je način spajanja dijelova. Nadalje odabrane su komponente pneumatskog, mjernog i upravljačkog djela sustava.

Opisani su pripadni stupnjevi slobode gibanja robota zajedno s njihovim ograničenjima. Također su opisani rad energetskog i upravljačkog sustava. Humanoidni robot konstruiran je u CAD alatu i prikazana je željena simlacija hoda.

Abstract (english)

This paper deals with design of autonomous humanoid mobile robot actuated by artificial pneumatic muscles. Bipedal walk is one of the most complex dynamic processes in robotics. Achieving stability of such systems requires a well designed mechanical structure and adequate control algorithm. Autonomy of mobile pneumatic robot implies built in pneumatic power supply.

This paper primarily focuses on the design of mechanical structure of bipedal walking robot. All parts necessary for production of a humanoid robot are proposed. Guidelines for the practical design of the construction are provided and method for connecting parts is decribed. Furthermore all components of pneumatic, measuring and control systems are provided.

Associated degrees of freedom and their limitations are described. Operating mode of power and control systems are also described. Humanoid robot is constructed in CAD program and the simulation of bipedal walk is shown.

• Keywords: autonomous; humanoid robot; construction; artificial pneumatic muscle; pneumatics
• Keywords (english): autonomni; humanodini robot; konstrukcija; umjetni pneumatski mišić; pneumatika
• Language: croatian
• URN:NBN: urn:nbn:hr:235:439598
• 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 18:54:54