Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima

master's thesis

• Title (english): Two-legged walking robot driven by pneumatic artificial muscle
• Author: Andrija Gložinić
• Mentor: Željko Šitum (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

Unutar ovog rada izrađena je i sastavljena konstrukcija autonomnog dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima. Način ostvarenja hoda teži imitaciji biološkog modela, pa pneumatski mišići predstavljaju dobru alternativu električnim pogonima zbog pogodnog svojstva elastičnosti. Za ostvarenje gibanja koristi se pneumatski pogonski sustav napajan električnom baterijom, dok se upravljanje vrši pomoću mikrokontrolera. Autonomnost sustava osigurana je izvorima stlačenog zraka i električne energije, a energija se pogonskim komponentama dovodi preko releja okidanih mikrokontrolerom. Unutar rada postavljeni su temelji za regulaciju planarnog hoda dvonožnog robota. Izveden je pojednostavljeni idealizirani dinamički model robota, kao i dinamički model pneumatskih mišića. Pravilnom regulacijom izvedenih modela želi se postići stabilan dvonožni hod projektiranog sustava.

Abstract (english)

This paper deals with the construction and assembly of an autonomous two-legged walking robot actuated by artificial pneumatic muscles. Movement of the robot is designed to simulate biological gait so pneumatic muscles present a good alternative to electric servo drives due to elasticity property. Motion is achieved with a system of pneumatic actuators driven by electric battery based on the microcontroller algorithm. The autonomy of the robot is achieved by using built-in power supplies of compressed air and electric energy. The paper presents basics for the regulation of planar gait of a two-legged robot. A simplistic dynamic model is presented as well as a dynamic model of a pneumatic muscle. By a well-designed regulator for given models, a stable walk is expected.

• Keywords: autonomnost; dvonožni robot; hod; pneumatski
• Keywords (english): autonomy; bipedal robot; gait; pneumatic
• Language: croatian
• URN:NBN: urn:nbn:hr:235:706420
• 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; Embargo expiration date: 0000-00-00
• Created on: 2019-05-21 12:54:08