magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Edi Oblak (Author), Primož Podržaj (Mentor)

Abstract

Za razvoj prototipa poljedelskega mobilnega robota moramo imeti široko paleto znanja različnih področij, kot so strojništvo, mehatronika in elektrotehnika. Pri snovanju mehanskih sklopov moramo poznati standardne gradnike, različne materiale in tehnike konstruiranja. Velik del razvoja je skoncentriran na elektronsko vezje, ki omogoča pošiljanje signalov med elektronskimi komponentami in napajanje le teh. Za delovanje prototipa pa moramo imeti tudi nekaj znanja s področja programiranja mikrokrmilnikov. Delovanje prototipa mobilnega robota je namreč podprto s programsko kodo, ki skrbi za določanje parametrov na aktuatorjih. Izdelovanje prototipa mobilnega poljedelskega robota je razdeljeno na tri dele. Najprej smo snovali mehansko konstrukcijo, za tem smo določevali elektronske komponente in na koncu mikrokrmilnik podprli s programom. Pri tem smo uporabljali sodobne pristope modeliranja s pomočjo 3D modelirnega okolja. Podobno smo tudi elektronska vezja izdelali s pomočjo temu namenjene programske opreme in jih prilagodili izključno uporabi na našem prototipu. Pri programiranju smo se držali načela enostavnosti in preglednosti programske kode. Uspelo nam je zgraditi popolnoma funkcionalen prototip poljedelskega mobilnega robota, ki bo služil kot osnovna platforma mnogim nadaljnjim projektom.

Keywords

magistrske naloge;mobilna robotika;prototipiranje;Rocker-bogie;Ackermannov princip;PCB vezje;programiranje;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [E. Oblak]
UDC: 007.52:004.925:621.3.049.75(043.2)
COBISS: 192571395 Link will open in a new window
Views: 32
Downloads: 66
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Other data

Secondary language: English
Secondary title: Development of a prototype of an agricultural mobile robot
Secondary abstract: To develop a prototype of an agricultural mobile robot, we need a wide range of skills in different fields such as mechanical engineering, mechatronics and electrical engineering. When designing mechanical assemblies, we need to be familiar with standard building blocks, different materials and design techniques. Much of the development is concentrated on electronic circuitry, which allows signals to be sent between electronic components and also to power them. However, in order to make the prototype work, we also need to have some knowledge of microcontroller programming. The running of the prototype mobile robot is supported by the programming code that takes care of setting the parameters on the actuators. The prototyping of the mobile agricultural robot is divided into three parts. First, we designed the mechanical structure, then we specified the electronic components and finally a program was uploaded to the microcontroller. We used modern modelling approaches using a 3D modelling environment. Similarly, the electronic circuits were designed using dedicated software and adapted exclusively for use on our prototype. In programming, we have followed the principle of simplicity and clarity of the programming code. We have succeeded in building a fully functional prototype of an agricultural mobile robot that will serve as a basic platform for many future projects.
Secondary keywords: master thesis;mobile robotics;prototyping;Rocker-bogie;Ackermann principle;PCB board;programming;
Type (COBISS): Master's thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XVIII, 67 str.
ID: 23281763
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