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master's thesis
Osjetljivo robotsko bušenje
2018. urn:nbn:hr:235:676709
Rorbach, Tomislav
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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Rorbach, T. (2018). Osjetljivo robotsko bušenje (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:676709

Rorbach, Tomislav. "Osjetljivo robotsko bušenje." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:676709

Rorbach, Tomislav. "Osjetljivo robotsko bušenje." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2018. https://urn.nsk.hr/urn:nbn:hr:235:676709

Rorbach, T. (2018). 'Osjetljivo robotsko bušenje', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 19 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:676709

Rorbach T. Osjetljivo robotsko bušenje [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2018 [cited 2024 April 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:676709

T. Rorbach, "Osjetljivo robotsko bušenje", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:235:676709

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Metadata
TitleOsjetljivo robotsko bušenje
Title (english)Force sensitive robot drilling
AuthorTomislav Rorbach
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2018-05-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U sklopu ovoga rada postavljen je i testiran u labaratorijskim uvijetima postav za osjetljivo robotsko bušenje. Postav se sastoji od nekoliko sustava: robotskog sustav Kuka Lightweight Robot LWR4+, sustava za očitanje sile i momenta ATI Net F/T sa mjernim osjetnikom „Gamma“, sustava namjenjenog za bušenje u medicini proizvođača Medtronic, te osobnog računala (PC-a). Na osobnome računalu programski jezik C++ (cpp) u sklopu programskoga paketa Microsoft Visual Studio 2010, simultano izvršavajući više programskih kodova (eng. multithreading) održava komunikacijske veze unutar postava, te PI regulator upravljačkom posmičnom brzinom svrdla održava silu pritiska svrdla tijekom bušenja konstantnom. Detekcija proboja bušenoga materijala odvija se izvršavanjem algoritma osjetljivoga na pad sile pritiska svrdla prilikom bušenja, na temelju postavljenih vrijednosnih pragova (eng. threshhold). Postav je testiran bušeći homogeni materijal (Al lim), umjetnu nehomogenu strukturu (Al lim – eps – Al lim), te teleću lopatičnu kost.
Abstract (english)
Within this work, a predetermined robotic drilling pattern was set up and tested in laboratory conditions. The set consists of several systems: Lightweight Robot LWR4 + Robotic System, Network Force/Torque Sensor System with Gamma sensor, Medtronic Drill System, and personal computer (PC). On a personal computer, C ++ (cpp) programming language within the Microsoft Visual Studio 2010 program package, simultaneously executing multiple program codes (multithreading), maintains communication within the setup, and the PI controller with feed rate maintains the force of the drill bit during drilling constant. Detection of breakthrough is performed by performing a drilling bit-sensitive thrust force algorithm based on the set threshold. The installation was tested by drilling a homogeneous material (Al sheet), an artificial inhomogeneous structure (Al sheet - eps - Al sheet), and a calf bone.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:676709
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 22:23:09