magistrsko delo
Boštjan Lorbek (Author), Aleš Hace (Mentor), Uroš Župerl (Mentor), Karl Gotlih (Co-mentor)

Abstract

Magistrsko delo obravnava bilateralno teleoperiranje dvoosnega paralelnega robotskega mehanizma LINPARMAN. Ta sistem vključuje linearne motorje, s katerimi uvajamo nekatere pomembne prednosti v robotskih mehanizmih: direktni pogon brez reduktorjev, kar prinaša manjše trenje, izgubo zračnosti in potrebe po pretvarjanju rotacijskega gibanja v linearno itd. V magistrskem delu je opisano tudi načrtovanje paralelnega robotskega mehanizma z linearnimi motorji. Snovanje je potekalo s programsko opremo za CAD. Izdelan mehanizem je uporabljen v sistemu za bilateralno teleoperiranje, pri čemer smo uporabili PP in FP arhitekturi. Regulacijski sistem je bil izveden na programirljivem FPGA vezju. Njegova glavna prednost je zmožnost hitrega paralelnega procesiranja, ki posledično omogoča izvedbo visokozmogljivih robotskih sistemov. Sistem smo eksperimentalno validirali. Eksperimentalni rezultati vključujejo primere bilateralnega vodenja s PP in FP arhitekturo v prostem gibanju, dotiku z mehko in trdo oviro.

Keywords

linearni motorji;konstruiranje;paralelni manipulatorji;LINPARMAN;bilateralno teleoperiranje;CAD;FPGA;SolidWorks;LabView;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: [B. Lorbek]
UDC: 621.391:681.5(043.2)
COBISS: 17347606 Link will open in a new window
Views: 1256
Downloads: 147
Average score: 0 (0 votes)
Metadata: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Other data

Secondary language: English
Secondary title: BILATERAL TELEOPERATION OF A LABORATORY PARALLEL ROBOT MECHANISM WITH LINEAR MOTORS
Secondary abstract: This master's thesis examines bilateral teleoperation of LINPARMAN, a parallel biaxial robotic mechanism. The system includes linear motors used to implement some important features of robotic mechanisms - direct drive with no reduction gear, which reduces friction, eliminates backlash, and avoids conversion from rotational movement into linear etc. The master’s thesis also describes the process of planning of the parallel robotic mechanism using linear motors. The mechanism was designed using CAD software. We used the constructed mechanism in the system for bilateral teleoperation on both PP and FP architectures. The control system was designed on a programmable FPGA circuit board. Its main advantage is fast parallel processing which enables the design of high-performance robotic systems. The system was experimentally validated. Experimental results include cases of bilateral control on PP and FP architecture during free movement, and during contact with a soft and hard obstacle.
Secondary keywords: linear motor;construction;parallel manipulator;LIMPARMAN;bilateral teleoperation;CAD;FPGA;SolidWorks;LabView;
URN: URN:SI:UM:
Type (COBISS): Master's thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages: XVII, 140 str.
ID: 8727335