Razvoj petosnog robota paralelne kinematike

master's thesis

• Title (english): Design of five-bar parallel robot
• Author: Matej Božić
• Mentor: Bojan Jerbić (mentor)
• Mentor: Marko Švaco (pomoć pri izradi, neposredni voditelj)
• Committee member: Bojan Jerbić (predsjednik povjerenstva)
• Committee member: Josip Kasać (član povjerenstva)
• Committee member: Mihael Cipek (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-04-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Tema ovog rada je razvoj petosnog robota paralelne kinematike. Cilj je napraviti robota od početnog koncepta do eksperimentalnog postava koji može izvršavati dane zadatke. Razvoj je krenuo od odabira ulaznih parametra robota u ovisnosti o zadanim ograničenjima zadataka. Napravljena je kinematika robota i odabrana veličina radnog područja. Kroz nekoliko iteracija koncepata robota odabran je jedan koji je išao u daljnju razradu i za koji su provedene simulacije. Iz simulacija su odabrani aktuatori te je iz odabranih aktuatora napravljen ostatak robota. Nakon razrađene konstrukcije, dijelovi robota su išli na izradu te je nakraju robot montiran. Za robot je potom napravljeno upravljanje preko grafičkog sučelja i vizijskih sustava u Python programskom jeziku.

Abstract (english)

The topic of this master thesis was the development of a 5-bar parallel kinematics robot. The goal of this thesis was to make a robot from the first concept to a working prototype that is capable of executing given tasks. Development started from picking appropriate robot parameters from constraints given in the task. The kinematics and working area of the robot were made. Through several iterations of robot concepts, one was chosen that went into the detailed development and simulations. Actuators were selected based on these simulations and from the rest of the robot, development was done based on actuators. After robot construction was done, its parts were sent to production and in the end, the robot was assembled. Then, the program for controlling a robot through a graphical user interface was done in Python programming language.

• Keywords: petosni robot paralelne kinematike; razvoj; konstruiranje; upravljanje; vizijski sustav
• Keywords (english): 5-bar parallel robot; development; design; control; vision system
• Language: croatian
• URN:NBN: urn:nbn:hr:235:236966
• 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: 2020-04-03 10:54:58