Zasnova robotske hidravlične roke

Čretnik, Matjaž (author), Majdič, Franc (mentor)

Z zaključno nalogo smo želeli doseči nadgradnjo obstoječe hidravlične roke v robotsko hidravlično. Robotizacija bi omogočala transport poljubnega predmeta z ene lokacije na drugo v sferičnem koordinatnem sistemu. Ker trg ponuja čedalje bolj kompaktne in večnamenske krmilnike, smo se odločili, da za krmiljenje uporabimo krmilno palico, ki že ima vgrajen krmilnik. S pomočjo merilnega sistema za zasuk, nameščenega na vrtiščih posameznih krakov, in z merilnikom pomika smo določili natančnost samodejnega pomika. Izkaže se, da smo dosegli zadovoljivo natančnost.

• Language: Slovenian
• Keywords: hidravlične roke, krmilne palice, merilni sistemi, robotizacija, programiranje, krmiljenje
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Čretnik]
• Year: 2019
• Number of pages: XV, 41 f.
• PID: 20.500.12556/RUL-110181
• UDC: 621.22:007.52:004.42(043.2)
• COBISS.SI-ID: 16907291
• Publication date in RUL: 12.09.2019

Secondary language

• Language: English
• Title: Design of robotic hydraulic arm

Abstract

The purpose of this thesis was to achieve upgrade of the existing hydraulic arm into a robotic hydraulic. Robotization would allow the transport of a any object from one location to another, in a spherical coordinate system. Because the market offers more and more compact and multi-purpose controllers, we decided to use a joystick that already has the controller installed. The accuracy of the automatic displacement was determined with the help of a rotary measuring system mounted on the pivots of the individual arms and a displacement meter. We concluded that we have achieved sufficient accuracy.

• Keywords: hydraulic arms, joysticks, measurement systems, robotization, programming, steering