Razvoj odprtokodne učne robotske roke

magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo

Luka Marinko (Author), Drago Bračun (Mentor), Rok Vrabič (Co-mentor)

Abstract

Razvoj robotov omogoča nove robotske aplikacije. V procesu razvoja se inženirji srečujejo z omejitvami posameznih komponent robotskega sklepa. Na trgu obstaja veliko ponudnikov z različnimi rešitvami. Dobavitelji komponent morajo slediti željam svojih kupcev, da bo nov robot lahko dosegel zahteve po višjih hitrostih, večji nosilnosti ali ponovljivosti. Kupci svojih izzivov pogosto ne razkrijejo podrobno, saj bi tako razkrili tudi del svojih lastnih rešitev, ki jih ločuje od konkurence. V podjetju RLS Merilna Tehnika d. o. o. so se odločili za projekt študentske ekipe, ki bo izdelala svojega robota in se tako srečala z nekaterimi izzivi razvoja robotov. Za tržno usmerjen pristop razvoja je bila želja izdelati poceni rešitev, ki bi bila konkurenčna obstoječim odprtokodnim robotom. Načrtovan je bil koncept 4-osnega robota, izbrani so bili primerni motorji in reduktorji ter izdelani vsi ostali sestavni deli. Ponovljivost je bila izmerjena po vzoru standarda ISO 9283. Začetne zahteve niso bile izpolnjene. Prepoznane so bile nekatere možnosti za izboljšavo. Testirana nosilnost presega začetne zahteve. Ugotovitve so v pomoč za razumevanje vplivov posameznih komponent na značilnosti celotnega robota

Keywords

magistrske naloge;učni roboti;robotika;odprtokodna skupnost;robotski sklepi;ponovljivost robota;

Data

Language:	Slovenian
Year of publishing:	2021
Typology:	2.09 - Master's Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[L. Marinko]
UDC:	007.52:621.865.8(043.2)
COBISS:	61282563
Views:	340
Downloads:	110
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Development of an open source learning robotic arm
Secondary abstract:	The developement of robots enables new robotic applications. In the developement process, engineers encounter the limitations of the individual components of a robotic joint. There are many providers in the market with different solutions. Therefore component suppliers must follow the wishes of their costumers so that the new robot can meet the requirements for higher speeds, payload or repeatability. Customers often do not disclose their challenges in detail, as this would also reveal part of their own solutions that sets them apart from their competition. In the company RLS Merilna tehnika d. o. o. they decided on a project of a student team that will make their own robot and thus encounter some of the challenges of robot developement. For a market-oriented approach to developement, the desire was to build a low-cost solution that would be competitive with existing open-source robots. The concept of a 4-axis robot was planned, suitable motors and reducers were selected and all other components were made. Repeatability was measured on the model of ISO9283. Initial requirements were not met. Some options for improvement has been identified. The tested load capacity exceeds the initial requirements. Findings are needed to understand the effects of individual components on the characteristics of the whole robot.
Secondary keywords:	master thesis;learning robots;robotics;open source community;robotic joints;robot`s repeatability;
Type (COBISS):	Master's thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. Ljubljana, Fak. za strojništvo
Pages:	XXII, 57 str.
ID:	12708618