Projektiranje, izrada i upravljanje troosnog antropomorfnog robota za igranje šaha

undergraduate thesis

• Title (english): Design, manufacturing and control of a 3-axis chess-playing robot
• Author: Leon Malnar
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-03-01, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Cilj ovog završnog rada je dati potpuno rješenje robota za igranje šaha koje obuhvaća konstruiranje, izradu mehaničkih dijelova, sklapanje, odabir i povezivanje adekvatnih senzora te povezivanje komponenti s upravljačkim sustavom. Ideja je da izrađeni robot mora na temelju poteza koje napravi njegov suparnik generirati najbolji potez i samostalno ga izvršiti. To igru čini interaktivnom i daje mogućnost igranja protiv računala uz pomicanje fizičkih figura kao protiv čovjeka. Kako bi se ostvarili ti zahtjevi, robot mora u svakom trenutku znati točnu poziciju svih figura na ploči da na temelju toga može izvršiti najbolji potez. Svako polje mora imati pridruženu koordinatu u odnosu na koordinatni sustav robota. Da bi se ostvarilo linearno gibanje hvataljke robota, potrebno je poznavati njegovu kinematičku strukturu. U uvodnom dijelu će se dati pregled različitih struktura robota i odabrat će se glavni aspekti robota koji uključuju načine prijenosa gibanja i tehnologije izrade. Potom će se izraditi model robota s kinematičkim vezama u programu Catia. Nakon izrade slijedi proračun kinematike uz korištenje MATLAB-a. Kako je razvoj ploče i mjernih uređaja donekle neovisan o razvoju samog robota, u zasebnom poglavlju će se prikazati projektiranje i izrada tog dijela sustava. Na kraju će se svi dijelovi povezati u funkcionalnu cjelinu i ispitati rad sustava.

Abstract (english)

The aim of this final paper to give a complete solution for a chess playing robot which includes design, manufacturing of mechanical components, assembly, selecting and connecting appropriate sensors, and linking components to the control system. Basic idea is that the aforementioned robot has to generate the best possible move according to the move its opponent just made. It makes the game interactive and gives possibility of playing chess versus a computer through actual physical movement, like an actual human would do. In order to meet those requirements, the robot must be capable of knowing the exact position of every figure on the board so that the best move can be made. Each field must have an associated coordinate relative to the coordinate system of the board. To achieve linear motion of the robot gripper, its kinematic structure has to be known. The introductory section will give an overview of the various robotic structures and the main aspects of the robot will be selected, which include motion transmission and manufacturing processes. After manufacturing is completed, robot kinematics model will be calculated using MATLAB. Due to the fact that the development of the chess board and measuring devices is somewhat independent of the robot development itself, a separate chapter will further show the design and manufacturing process of that part of the system. Finally, all of the parts would be connected to a functional unit and the system operation will be verified.

• Keywords: robot; šah; upravljanje; kinematika; senzori; mehatronika
• Keywords (english): robot; chess; control; kinematics; sensors; mechatronics
• Language: croatian
• URN:NBN: urn:nbn:hr:235:104654
• 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 22:10:44