Projektiranje sustava za pozicioniranje elektromotornog servopogona s izraženom zračnošću transmisijskog sustava

undergraduate thesis

• Title (english): Design of a positioning system for an electrical servodrive with emphasized gear play within the transmission system
• Author: Albert Androšić
• Mentor: Danijel Pavković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

U ovom radu provodi se teorijsko ispitivanje i simuliranje modela za INETEC-ov robot FORERUNNER, odnosno za njegov pužni prijenos koji sadrži zračnost između radnih zuba. Cilj rada je izraditi simulink model u Matlabu te ga simulirati za određeni referentni kut pomaka, odnosno određeni translacijski pomak alata. U radu provedena je detaljna analiza konstrukcijskih rješenja gdje se javlja zračnost, analiza dijelova radnog mehanizma te izrada nekoliko verzija simulink modela kako bi se ustanovio najbolji način kompenzacije zračnosti uz istovremeno zadržavanje funkcionalnosti postojećeg sustava FORERUNNER.

Abstract (english)

This paper conducts theoretical examination and simulations of models for INETEC's robot FORERUNNER, that is for its worm drive with backlash between its working teeth. The objective of this paper is to build a simulink model in Matlab and to simulate it for a certain reference displacement angle, i.e. a certain translational tool offset. In the paper a detailed analysis of constructional solutions that had backlash was conducted. What is more, the analysis of the parts of the mechanism was also conducted along with the modelling of a few simulink models to establish the best way to compensate the existing backlash while retaining the functionality of the existing FORERUNNER system.

• Keywords: FORERUNNER; pužni prijenos; zračnost; preciznost pozicioniranja
• Keywords (english): FORERUNNER; worm drive; backlash; positioning precision
• Language: croatian
• URN:NBN: urn:nbn:hr:235:937747
• 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; Embargo expiration date: 2024-03-02
• Created on: 2022-02-28 09:25:05