Projektiranje i upravljanje robotske ruke izrađene na 3D printeru

undergraduate thesis

• Title (english): The design and control of a 3D printed robot arm
• Author: Mario Klasić
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-03-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom završnom radu konstruirana je i na 3D printeru izrađena prihvatnica za već postojeći robotski manipulator koji je također izrađen na 3D printeru, s tri stupnja slobode gibanja, minimalne strukture RRR, odnosno tzv. revolutne strukture.

Također, izrađen je program koji omogućuje premještanje predmeta unutar radnog prostora robotskog manipulatora.

Svrha ovog završnog rada je pokazati da se sa istim aktuatorima, upravljačkim sustavom pa i istim načinom programiranja, ali sa bitno različitim rasporedom pojedinih elemenata mogu dobiti dva naizgled potpuno različita (po funkcijama), a opet skoro potpuno jednaka stroja (po dijelovima):

• 3D printer

• robotski manipulator s tri stupnja slobode gibanja

Koriste se električni aktuatorski sustavi (koračni motori). Električni sustavi imaju relativno mali odnos snage i težine, a s druge strane jako su točni (kutovi zakreta koračnih motora koji se koriste u završnom radu su 1.8°). Takva svojstva ipak više odgovaraju za pogon 3D printera (točnost) nego za pogon robotskog manipulatora koji zbog malog odnosa snage i težine aktuatora može poslužiti samo kao edukacijska maketa jer ima malu nosivost.

S druge strane, velika prednost i jednog i drugog sustava je primjena strojnog jezika, tzv. G-koda, koji nije kompliciran, a jako je zastupljen u različitim tehnologijama (npr. CNC strojevi).

Također, svi dijelovi za robotski manipulator isprintani su na istom 3D printeru od čijih će se dijelova (aktuatori, upravljački sustav) taj isti manipulator izgraditi.

Abstract (english)

In this bachelor's thesis gripper is designed and also 3D printed for existing robot arm which is also 3D printed, with three degrees of freedom, minimal structure RRR.

Also, there is specialy designed program which allows moving objects within the workspace of the robotic manipulator.

The purpose of this thesis is to show that the same actuators, control system, and the same way of programming, with a significantly different arrangement of elements, can get two completely different (by function), and exactly the same machine (by parts):

• 3D printer

• robotic manipulator with three degrees of freedom

A electric actuators systems (stepping motors) are used. Electrical systems have relatively low strength to weight ratio, and on the other hand are very accurate (angles of rotation of the stepper motor used in the thesis is 1.8°). Such properties are more appropriate to operate 3D printer than to operate the robotic manipulator, because actuator has low strength to weight ratio and robotic manipulator can serve only as an educational model because it has a small capacity.

On the other hand, the great advantage of both systems is the use of machine language called G-code, which is not complicated, and it is represented in different technologies (eg. CNC machines).

All parts of a robotic manipulator are printed on the same 3D printer whose parts (actuators, control systems) will construct manipulator.

• Keywords: 3D printanje; prihvatnica; robotski manipulator; 3D printer; električni aktuatori; G-kod
• Keywords (english): 3D printing; gripper; robotic manipulator; 3D printer; electric actuators; G-code
• Language: croatian
• URN:NBN: urn:nbn:hr:235:849159
• 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: 2019-05-22 18:35:15