20.500.12556/RUL-102599 Razvoj robotske noge Development of a robotic leg 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. 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. robotska noga kinematika obremenitve krmiljenje servomotorji robotics leg kinematics loads control servomotors true false false [Z. Kavčič] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2018-09-05 07:45:18 2018-09-05 07:45:21 2022-08-15 03:42:48 0000-00-00 00:00:00 2018 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:681.5(043.2) 207652 16300827 2188.pdf 2188.pdf 1 C9459E98E04C5A4CC29956A036B0BFD8 a6b0a2748763e6a335f9903c5a0b41301265d8b1a20b2cdfe2d19f78a74cf955 91770006-a1b5-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=112948 Fakulteta za strojništvo 0 0 0