Mobilno vozilo s motorom pogonjenim pneumatskim mišićima

undergraduate thesis

• Title (english): Mobile vehicle with pneumatic muscle engine
• Author: Filip Čavić
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Glavni cilj ovog rada je suočavanje s realnim inženjerskim problemima pri izradi mobilnog vozila na alternativni pneumatski pogon pomoću nekonvencionalnih pneumatskih mišića koji nisu u tolikoj primjeni kao pneumatski cilindri. To je dovelo do dodatne motivacije za korištenje pneumatskih mišića kao izvršnih aktuatora ovog stroja. Ovaj model, odnosno maketa, nije namijenjena za prijevoz osobe, već je namijenjena postavljanju inovativnih ideja i novih načina ostvarivanja mobilnosti što je jedan od glavnih pravaca razvoja u samom strojarstvu, još od izuma kotača. Ovaj stroj se može nazivati i mobilno vozilo i mobilni robot pošto sadrži karakteristike ovih sustava. U ovom radu opisat će se detaljno konstrukcijsko rješenje gibanja pomoću pneumatskih mišića kao i opis svih potrebnih komponenti za ostvarenje gibanja vozila. Zatim su opisani načini upravljanja i programiranja, izrada konstrukcije vozila i ostalih bitnih dijelova za prijenos gibanja pomoću CAD alata te sastavljanja mehaničkog, elektroničkog i upravljačkog sustava u jednu cjelinu. Na kraju će se dati smjernice za daljnji razvoj ovog rada te upute za ostvarenje autonomnog rada vozila. Može se reći da ovaj rad u potpunosti spada u kategoriju mehatroničkog sustava jer su potrebna sva znanja iz različitih područja da bi se sve ukomponiralo u funkcionalnu cjelinu.

Abstract (english)

The main goal of this work is to deal with real engineering problems when making a mobile vehicle with an alternative pneumatic drive using unconventional pneumatic muscles that are not as widely used as pneumatic cylinders. This led to additional motivation to use pneumatic muscles as the executive actuators of this machine. This model is not intended for transporting people, but is intended for setting up innovative ideas and new ways of achieving mobility, which is one of the main directions of development in mechanical engineering itself, ever since the invention of the wheel. This machine can also be called a mobile vehicle and a mobile robot since it contains the characteristics of both of these systems. This paper will describe a detailed design solution for movement using pneumatic muscles, as well as a description of all necessary components for achieving vehicle movement. Further are described the methods of control and programming, the creation of the vehicle structure and other essential parts for the transmission of motion using CAD tools and the assembly of the mechanical, electronic and control system into one unit. At the end, guidelines will be given for further development of this work and instructions for achieving autonomous vehicle operation. It can be said that this work fully belongs to the category of mechatronic system because all the knowledge from different fields is needed to integrate everything into a functional whole.

• Keywords: mehatronika; robotika; pneumatika; vozilo; mobilni robot; pneumatski mišić; autonomno mobilno vozilo
• Keywords (english): mechatronics; robotics; pneumatics; vehicle; mobile robot; pneumatic muscle; autonomous mobile vehicle
• Language: croatian
• URN:NBN: urn:nbn:hr:235:897297
• 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: 2023-02-27 18:32:46