20.500.12556/RUL-171910 Razvoj nesamozapornega planetnega gonila Development of a backdrivable planetary gearbox V zaključni nalogi je predstavljena pot razvoja nesamozapornega planetnega gonila Wolfrom topologije. Izhodišče je analitičen model gonila, ki združuje geometrijo, kinematiko, sile, izgube in preverjanje nosilnosti po standardu ISO 6336 za zlom zoba in jamičenje. Sistem je večkriterijsko optimiziran s pomočjo genetskega algoritma. Optimizacija je izvedena z genetskim algoritmom mešanih spremenljivk (angl. Mixed-Variable Genetic Algorithm) in uvedene so zgodnje omejitve tako, da so računsko zahtevni nosilnostni preračuni izvajani le na obetavnih osebkih. Izbran je material, toplotna obdelava, ležaji, tesnila in način mazanja. Rešitev izbrana iz Pareto fronte je validirana v okolju KISSsoft in zmodeliran je 3D model. In the thesis, we present the development process of a backdrivable planetary gear train of Wolfrom topology. The starting point is an analytical gear model that integrates geometry, kinematics, forces, losses and load-carrying capacity verification, according to ISO 6336 in regards to tooth bending strength and pitting. The system is optimized in regards to multiple objectives using a genetic algorithm. The optimization is carried out with a Mixed-Variable Genetic Algorithm, with early constraints implemented, so that computationally expensive load-capacity calculations are performed only on promising individuals. Material, heat treatment, bearing, shaft seals and lubrication type are all chosen. The chosen Pareto-optimal solution is validated in KISSsoft and a 3D model is designed. nesamozapornost planetno gonilo genetski algoritem večkriterijska optimizacija robotika backdrivability planetary gear train genetic algorithm multi-objective optimization robotics true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2025-09-04 08:32:05 2025-09-04 08:32:06 2025-09-25 03:53:07 0000-00-00 00:00:00 2025 0 0 XXVI, 56 str. 2025 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.833.6:004.89(043.2) 275375 248559619 43488.pdf 43488.pdf 1 C1763BFB9CFD3A85FF982D854D4251E4 5c76630c0dfdada976fc6e7fc6d7d4e726f6b55699ab8d9bc343f28bb0b70f89 bab53964-8958-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=215476 Fakulteta za strojništvo 0 0 0