Bežično upravljanje elektrohidrauličkim robotskim manipulatorom

undergraduate thesis

• Title (english): Wireless control of an electro-hydraulic robotic manipulator
• Author: Dalibor Žgela
• 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

Elektrohidraulički robotski manipulator (EHROM), razvijen u Laboratoriju za automatiku i robotiku, namijenjen je manipulaciji predmeta velikih masa do 200 kg. Manipulator ima tri stupnja slobode gibanja, rotaciju postolja, rotaciju ruke i translaciju konzole ruke. Na kraju mehaničke strukture manipulatora se nalazi hidraulička prihvatnica. Stupnjevi slobode gibanja i prihvatnica su hidraulički aktuirani. Trenutno je navedene članove manipulatora moguće upravljati izravno putem poluga na proporcionalnom ventilskom bloku ili pomoću odvojene upravljačke ručice. Cilj ovog rada je ostvariti bežično upravljanje, putem Bluetooth veze, ventilskim blokom pomoću Arduino mikrokontrolera i izrađenog upravljačkog međusklopa.

U prvom dijelu rada će biti opisane izvorne komponente mehaničkog, pogonskog, mjernog i upravljačkog sustava elektrohidrauličkog robotskog manipulatora. Bit će dane osnovne tehničke karakteristike navedenih komponenti kao i izrazi za određivanje upravljanih koordinata iz mjernih signala senzora. Potom će biti opisan sam postupak izrade sustava koji uključuje izradu mobilne aplikacije, upravljačke pločice-međusklopa, programiranje Arduino mikrokontrolera i postupak sklapanja upravljačkog ormara. Na kraju će biti dane smjernice za daljni razvoj upravljačkog sustava s ciljem približavanja automatskom upravljanju sustava.

Abstract (english)

Electrohydraulic robotic manipulator (EHROM), intended for manipulation of objects weighing up to 200 kg, was developed in the Laboratory of Automation and Robotics. The manipulator has three degrees of freedom, rotation of the base arm, rotation of arm and translation of the arm console. Gripper is placed at the end of the mechanical structure. All degrees of freedom as well as the gripper are hydraulicaly actuated. The manipulator can be controlled using levers on the proportional hydraulic valve or using a joystick. The goal of this thesis is to achieve wireless control of the proportional valve group via Bluetooth connection, using Arduino microcontroler and self-made controlling interface.

In the first part of the paper original components consisting mechanical, drive, sensoric and controlling systems will be described. Basic technical specifications will be presented as well as expressions for determining values of variables describing the current position of the robot in dependence of the voltage levels of signals read from sensors. Afterwards, the design process of the control system will be given which includes development of mobile phone app, controller interface, programming of Arduino microcontroler and the process of the assembly of components. Finally, guidelines for further development of the control system with the intention of achieving automated control will be presented.

• Keywords: robotski manipulator; elektrohidraulika; bežično upravljanje
• Keywords (english): robotic manipulator; electrohydraulics; wireless control
• Language: croatian
• URN:NBN: urn:nbn:hr:235:384347
• 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 18:52:23