diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo
Zala Kavčič (Author), Drago Bračun (Mentor)

Abstract

V diplomskem delu je predstavljena izdelava robotske noge, ki je namenjena za potrebe testiranja prerazporejanja obremenitev na robotu z več nogami. Izračunane so obremenitve, razviti in izdelani so mehanski deli, močnostni podsistemi in krmiljenje. Potrjena je izbira servomotorja. Za namen pomikanja robotske noge je izračunana inverzna kinematika v programskem okolju MatLab s pomočjo knjižnice Robotics, Vision and Control na osebnem računalniku. Slednji prek serijske komunikacije pošilja želene zasuke servomotorjev na mikro-krmilnik OpenCM, ki krmili servomotorje in iz njih bere podatke o trenutnih obremenitvah. Testirani so ponovljivost pomika robotske noge in vrednosti navorov, ki jih morajo servomotorji prenašati.

Keywords

diplomske naloge;robotske noge;kinematika;obremenitve;krmiljenje;servomotorji;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [Z. Kavčič]
UDC: 007.52:681.5(043.2)
COBISS: 16300827 Link will open in a new window
Views: 1467
Downloads: 210
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Other data

Secondary language: English
Secondary title: Development of a robotic leg
Secondary abstract: The thesis discusses the design and construction of a robotic leg aimed at testing load balancing of a multi-legged robot. Bending moments are calculated. Mechanical parts, power and control subsystems are designed. Servomotors are selected. Inverse kinematics is calculated as the basis for steering the robotic leg. The inverse kinematics is calculated in MatLab program environment using Robotics, Vision and Control library running on a personal computer. Servomotors' positions are being sent via serial communication from personal computer to OpenCM microcontroller which controls the servomotors and reads data about the current loads. The repeatability of the robotic leg's position and the amount of the couple moments in the servomotors were tested.
Secondary keywords: robotics leg;kinematics;loads;control;servomotors;
Type (COBISS): Bachelor thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XXII, 46 str.
ID: 10958075
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