Razvoj robotskog sustava za penjanje po vertikalnim stupovima

undergraduate thesis

• Title (english): Development of a robot system for climbing on vertical pillars
• Author: Jan Jakovljević
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Precision Mechanical Engineering

Abstract

U završnom radu opisani su najčešće korišteni sustavi kretanja i tipovi adhezijskih mehanizama robota penjača. U završnom radu je koncipirano više različitih načina penjanja po pravokutnim vertikalnom stupovima varijabilnih presjeka te je izabran i detaljno razrađen jedan od koncepata. Kroz rad se opisuje izračun sila na odabranom konceptu, odabir elektroničkih komponenti, konstruiranje koncepta i strukturna analiza konstrukcije. Nakon detaljne razrade robota za penjanje po vertikalnim pravokutnim stupovima napravljen je koncept prototipa koji je onda izrađen zajedno s testnom postajom. Nakon izrade prototipa i testne postaje radila se eksperimentalna validacija napravljenih izračuna i strukturnih analiza konstrukcije.

Abstract (english)

The final paper describes the most commonly used motion systems and types of adhesive mechanisms of climbing robots. The paper conceives several different ways of climbing rectangular pillars of variable cross - sections, and one of the concepts is selected and elaborated in detail. The paper describes the calculation of forces on the selected concept, the selection of electronic components, the construction of the concept and the structural analysis of the structure. After a detailed development of the robot for climbing the vertical rectangular pillars, the concept of the prototype was made, which was then made including the test station. After the making of the prototype and the test station, experimental validation of the calculations and structural analyzes of the structure was performed.

• Keywords: robot penjač; konstrukcija robota penjača; mehatronički sustav; senzorika; kretanje robota po vertikalnim pravokutnim stupovima
• Keywords (english): climbing robot; climbing robot construction; mechatronic system; sensory; vertical robot movement; robot climbing on vertical rectangular pillars
• Language: croatian
• URN:NBN: urn:nbn:hr:235:370458
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2021-02-22 10:23:32