Generiranje gibov plezajočega robota za pregled in vzdrževanje mostov

diplomsko delo

Miha Kitak (Author), Karl Gotlih (Mentor), Suzana Uran (Mentor)

Abstract

V diplomski nalogi je predstavljena izdelava inverznega geometrijskega modela robota za izračun koordinat in kotov zasuka sklepov ter izdelava programa za upravljanje krmilnikov, ki z uporabo izračunov krmilijo premike robotske roke. Robot je sestavljen iz trupa in dveh rok, kjer imajo vsi trije elementi svoje prijemalo za pritrditev na plezalno ploskev. Cilj diplomske naloge je razviti plezajoči robot za pregled in vzdrževanje mostov, ki se giblje po betonski ploskvi s pomočjo že obstoječih dilatacijskih lukenj. Podrobno je opisan inverzni geometrijski model za izračun notranjih koordinat posameznih sklepov za namen premika vrha robotske roke v izbrano točko v zunanjem koordinatnem sistemu ter povezovanje točkovnih gibov v pot za premik trupa. Cilj diplomske naloge je dosežen do stopnje, ko robot v realnem okolju doseže premik vrha roke v vnesene točke oziroma luknje na prototipni leseni deski z izvrtinami ter deloma tudi premik trupa naprej v naslednjo točko.

Keywords

robot;geometrijski model;koti zasuka sklepov;komunikacija;krmilnik;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2017
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FS - Faculty of Mechanical Engineering
Publisher:	[M. Kitak]
UDC:	004.925.8:007.52(043.2)
COBISS:	21017110
Views:	986
Downloads:	138
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Movement generation for climing robot for inspection and maintenence of bridges
Secondary abstract:	In this thesis, I introduce the construction of a geometric robot model for calculation of coordinates and joint angles, and the construction of programs for the controllers which control robot’s movements. The robot is constructed of two arms and a body, where all have their own gripping tool for fixation on the climbing surface. Goal is to develop a climbing robot for inspection and maintenance of bridges that uses the bridge's existing dilatation holes for fixation. This document includes a detailed description of the inverse geometric model for interior coordinates calculations in order to move the top of the robotic arm between two points in the external coordinate system. The goal is achieved to the point where the robot achieves movement of its gripping tool to the input points / holes on a prototype wooden desk and partially movement of its body.
Secondary keywords:	geometric model;joint rotation angle;communication;controller;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo
Pages:	VIII, 59 str.
ID:	10859136