Pneumatski manipulator s transportnim sustavom

master's thesis

• Title (english): Pneumatic manipulator with transport system
• Author: Kristijan Pucak
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-12-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Ovaj diplomski rad opisuje projektiranje, implementaciju i funkcionalnost energetskog i upravljačkog sustava za robotski manipulator koji je pogonjen pneumatskim aktuatorima i služi za transport i sortiranje radnih predmeta. Potom je u radu opisana konstrukcija i upravljanje transportnog sustava koji je nadograđen na pneumatski manipulator.

Pneumatski manipulator ima tri stupnja slobode gibanja (cilindrična kinematska struktura RTT – rotacija postolja, translacija ruke, translacija konzole ruke) s pneumatskom hvataljkom na kraju mehaničke strukture. Manipulatoru je nadograđen transportni sustav za zaprimanje i otpremanje radnih predmeta, kao i induktivni senzor za detektiranje metalnih predmeta te može obavljati zadatak sortiranja metalnih i nemetalnih radnih predmeta. Gibanjem manipulatora upravlja PLC (programabilni logički kontroler), dok transportnim sustavom upravlja platforma s mikrokontrolerskim sustavom Arduino Uno.

Izrađeni pneumatski manipulator s transportnim sustavom može se koristiti u industriji za zadatke u procesu montaže, dodavanja materijala, rukovanja radnim predmetima i dr., gdje bi olakšao ljudski rad.

Abstract (english)

This master thesis describes the design, implementation and functionality of energy and control system for a robotic manipulator which is driven by the pneumatic actuators and used to transport and sorting of work objects. Then, in this paper was described construction and control of the transport system, which was upgraded to the pneumatic manipulator.

The pneumatic manipulator has three degrees of freedom of movement (cylindrical kinematics RTT – base rotation, arm translation, arm console translation) with pneumatic grip at the end of the mechanical structure. A transport system has upgraded to the manipulator for receiving and delivering work items as well as an inductive sensor for detecting metal objects so the manipulator can do the task of sorting metal and non-metallic work items. Motion of the manipulator is controlled by the PLC (programmable logic controller), while the transport system is controlled by the board of microcontroller system Arduino Uno.

The pneumatic manipulator with the transport system can be used in industry for tasks in the assembly process, adding materials, handling work objects, etc., where it would facilitate human work.

• Keywords: robot; pneumatski manipulator; automatizacija; pneumatika; upravljanje
• Keywords (english): robot; pneumatic manipulator; automation; pneumatic; control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:155305
• 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: 2019-05-22 20:45:31