Edukacijski robot s pet stupnjeva slobode gibanja

master's thesis

• Title (english): Educational robot with five degrees of freedom
• Author: Kristijan Peter
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2019-01-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Nakon uvodnog dijela u diplomskom radu opisan je postupak izrade edukacijske robotske ruke ERA. Opisana je konstrukcija robotske ruke, od izrade modela do 3D pritanja realnog modela; razvijen je kinematički model robotske ruke ERA te su pomoću njega izvedeni direktni i inverzni kinematički problem koji, osim joysticka, služe za upravljanje robotskom rukom ERA. Odabran je aktuatorski dio robotske ruke ERA, koji se sastoji od koračnih motora, te je razvijen električni sustav za upravljanje motorima. Električni sustav se sastoji od upravljačke jedinice Arduino MEG2560, Driver-a za koračne motore, napajanja i mikroprekidača. Razvijeno je i korisničko sučelje robotske ruke ERA, u programskom paketu Python, i napisan programski kod za upravljanje robotsko rukom, u programskom paketu Arduino, kako bi bilo omogućeno davanje naredbi i upravljanje robotskom rukom po zglobovima. Na samom kraju rada nalazi se tablica u kojoj su dane karakteristike robotske ruke ERA, uspoređene sa trenutno najboljom i sa najjeftinijom edukacijskom robotskom rukom na tržištu.

Abstract (english)

This Master’s Thesis follows the process of developing the Educational Robotic Arm, ERA. The construction of the robotic arm is described, from making the model, to 3D printing the finished product. The kinematic model of ERA was developed and used to calculate the direct and inverse kinematic problems which are, apart from when using the joystick, used to control the robotic arm. The actuator part of the robotic arm, comprised of stepper motors, was chosen, and an electrical system to control the motors was developed. The electrical system contains the Arduino MEG2560 control unit, Drivers for stepper motors, power supply and limit switches. A graphic interface for ERA was developed, written in Python. A code for controlling the robotic arm was written in Arduino, to enable operating each separate joint of the arm. Enclosed at the end of this Thesis is a table, comparing various characteristics of ERA to the best and to the cheapest educational robot of this type, currently on the market.

• Keywords: Edukacijsku robot; Edukacijska robotika; Edukacijska robotska ruka; Robotska ruka; Inverzni i direktni kinematički problem
• Keywords (english): Educational robot; Educational robotics; Educational robotic arm; Robotic arm; Inverse and forward kinematics problem
• Language: croatian
• URN:NBN: urn:nbn:hr:235:569016
• 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 23:41:48