Robotski insekt sa šest nogu

master's thesis

• Title (english): Six-legged robotic insect
• Author: Patrick Trgovac
• Mentor: Tomislav Stipančić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu je prikazano kako napraviti robota. Takvi roboti mogu biti različitog tipa pa je važno napomenuti da je ovo heksapod, odnosno pauk sa šest nogu. Pokazano je kako izraditi konstrukciju nogu da bude kompatibilna sa motorima, kako povezati zglobove te kako ih povezati sa tijelom. U drugom dijelu se nalaze proračuni za statički moment nogu kada su tri noge u zraku. Proračunata je inverzna kinematika koja je potrebna za kontrolu noge te je izračunata potrebna struja za robota. U trećem dijelu je objašnjeno koje mikroprocesore koristiti i zašto njih. Također je objašnjeno kako riješiti problem sa velikim strujama i koje motore koristiti. Kako riješiti problem sa PCA9685 koji ne može dati dovoljno struje svim motorima. Zadnji dio je kontrola robota. Kod je pisan u Arduino IDE. Objašnjeno je kako povezati više mikroprocesora, kako iskoristiti websockete i zašto, te kako izraditi jednostavnu internet stranicu u Javascriptu. Također je objašnjeno kako kontrolirati noge pauka i kako iskoristiti inverznu kinematiku za to.

Abstract (english)

In this thesis, it is shown how to make a Spider robot. Spider robots can be different so it is important to say this is a hexapod, a spider robot with six legs.
The design of the robot is shown how to create legs to be compatible with motors, how to connect different parts of the legs and how to connect them with the body.
In the second part are shown calculations for static torque of the legs when three of the legs are in the air. Inverse kinematics is also shown because it is needed for the control of the robot. And some simple calculations for the current that is needed to power the robot.
The third part is electronics, what microprocessors are used and why them. How to solve the problem with too big currents and what motors are used. How to solve the PCA9685 problem with currents is also addressed.
The last part is control of the robot. The code is written in Arduino IDE. Connecting multiple microprocessors, how to use WebSockets and why, and how to create a simple webpage in Javascript. Details around controlling movements of spider legs and how to use inverse kinematics for it.

• Keywords: Pauk; robot; robot insekt; robot sa šest nogu; heksapod; arduino; ESP-32CAM; NodeMCU; PCA9685; MG996R; Javascript
• Keywords (english): Spider; robot; robot insect; robot with six legs; hexapod; arduino; ESP-32CAM; NodeMCU; PCA9685; MG996R; Javascript
• Language: croatian
• URN:NBN: urn:nbn:hr:235:020065
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems; Course: Mechatronics and Robotics; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2022-10-02 13:08:09