Osjetljivo robotsko bušenje

master's thesis

• Title (english): Force sensitive robot drilling
• Author: Tomislav Rorbach
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-05-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U sklopu ovoga rada postavljen je i testiran u labaratorijskim uvijetima postav za osjetljivo robotsko bušenje. Postav se sastoji od nekoliko sustava: robotskog sustav Kuka Lightweight Robot LWR4+, sustava za očitanje sile i momenta ATI Net F/T sa mjernim osjetnikom „Gamma“, sustava namjenjenog za bušenje u medicini proizvođača Medtronic, te osobnog računala (PC-a). Na osobnome računalu programski jezik C++ (cpp) u sklopu programskoga paketa Microsoft Visual Studio 2010, simultano izvršavajući više programskih kodova (eng. multithreading) održava komunikacijske veze unutar postava, te PI regulator upravljačkom posmičnom brzinom svrdla održava silu pritiska svrdla tijekom bušenja konstantnom. Detekcija proboja bušenoga materijala odvija se izvršavanjem algoritma osjetljivoga na pad sile pritiska svrdla prilikom bušenja, na temelju postavljenih vrijednosnih pragova (eng. threshhold). Postav je testiran bušeći homogeni materijal (Al lim), umjetnu nehomogenu strukturu (Al lim – eps – Al lim), te teleću lopatičnu kost.

Abstract (english)

Within this work, a predetermined robotic drilling pattern was set up and tested in laboratory conditions. The set consists of several systems: Lightweight Robot LWR4 + Robotic System, Network Force/Torque Sensor System with Gamma sensor, Medtronic Drill System, and personal computer (PC). On a personal computer, C ++ (cpp) programming language within the Microsoft Visual Studio 2010 program package, simultaneously executing multiple program codes (multithreading), maintains communication within the setup, and the PI controller with feed rate maintains the force of the drill bit during drilling constant. Detection of breakthrough is performed by performing a drilling bit-sensitive thrust force algorithm based on the set threshold. The installation was tested by drilling a homogeneous material (Al sheet), an artificial inhomogeneous structure (Al sheet - eps - Al sheet), and a calf bone.

• Keywords: nehomogeni materijali; bušenje; regulacija; senzor sile i momenta
• Keywords (english): inhomogeneous materials; drilling; control; force and torque sensor
• Language: croatian
• URN:NBN: urn:nbn:hr:235:676709
• 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 22:23:09