Pneumatski robotski manipulator s hvataljkom prilagodljivog oblika

undergraduate thesis

• Title (english): Pneumatic robotic manipulator with flexible gripper
• Author: Lovro Zoričić
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Ovaj se rad bavi projektiranjem i izradom pneumatskog robotskog manipulatora s trima stupnjevima slobode gibanja s hvataljkom prilagodljivog oblika. Ovakav bi se tip manipulatora koristio za obavljanje jednoličnih poslova premještanja predmeta nepravilnog geometrijskog oblika. Prednost hvataljke prilagodljivog oblika nad konvencionalnim hvataljkama bila bi u tome što nema potrebe za zaustavljanjem pogona u tvornici i zamjene radnog alata ako se na pokretnoj traci nađu razni predmeti.
Na početku će biti opisani pojmovi iz robotike, mehatronike, meke robotike te pneumatike. Nadalje, bit će prikazano projektiranje manipulatora i fleksibilne hvataljke u programskom paketu Solidworks. Zatim će se dati opis svih korištenih komponenti te objasniti korišteni strojevi, alati i proizvodne tehnologije kako bi se robotski manipulator izradio u konstrukciju. Nadalje, bit će objašnjen programski kod potreban za upravljanje manipulatorom te opisan način rada, a na kraju će se dati zaključak u kojem će se navesti poteškoće prilikom izrade i moguća poboljšanja sustava.

Abstract (english)

This paper deals with the design and construction of a pneumatic robotic manipulator with three degrees of freedom and an adaptable gripper. This type of manipulator would be used for performing repetitive tasks of moving irregularly shaped objects. The advantage of the adaptable gripper over conventional grippers is that there is no need to stop the production line and replace the tool when various objects are encountered on the conveyor belt.
At the beginning, concepts from robotics, mechatronics, soft robotics, and pneumatics will be described. Furthermore, the design of the manipulator and flexible gripper will be demonstrated using the Solidworks software package. Then, a description of all the components used will be provided, along with an explanation of the machines, tools, and manufacturing technologies required to construct the robotic manipulator. Next, the software code necessary for controlling the manipulator will be explained, along with its operation. Finally, a conclusion will be given, outlining the challenges encountered during construction and potential system improvements.

• Keywords: pneumatika; robotika; balon; 3D print tehnologija; mehatronički sustav; robotski manipulator; vakuumska tehnologija; univerzalna hvataljka
• Keywords (english): pneumatics; robotics; ballon; 3D print technology; mechatronic system; robotic manipulator; vacuum technology; universal gripper
• Language: croatian
• URN:NBN: urn:nbn:hr:235:320115
• 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: 2023-09-22 13:16:49