Mehanska in elektronska nadgradnja robotskega eksoskeleta

Zavrl, Kristjan (author), Vrabič, Rok (mentor), Babič, Jan (comentor)

Robotski eksoskeleti se vedno bolj uporabljajo na področju medicine, industrije in vojske, zato je trenutno njihov razvoj precej aktualen in pomemben. Ker je robotski eksoskelet v tesnem stiku s človeškim telesom, je pomembno, da je izdelana konstrukcija udobna za uporabo in da ne povzroči poškodb uporabnika. V diplomski nalogi bosta predstavljeni mehanska nadgradnja, ki vsebuje razvoj in izdelavo posameznih sestavnih delov, zaradi katerih bo eksoskelet udobnejši za uporabo, in elektronska nadgradnja, ki vsebuje zamenjavo relativnih kodirnikov z absolutnimi, s čimer bomo dosegli boljše delovanje sistema. Pod mehansko nadgradnjo spadajo operacije kot so modeliranje, 3D tiskanje in ročno delo, pod elektronsko nadgradnjo pa pritrditev kodirnikov, povezava kodirnikov ter programiranje. Ključni rezultati prikazujejo uspešno izdelane izboljšave in meritve delovanja celotnega sistema.

• Language: Slovenian
• Keywords: robotski eksoskeleti, razvoj, mehanska nadgradnja, elektronska nadgradnja, udobje, kodirniki
• Work type: Bachelor thesis/paper
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2024
• PID: 20.500.12556/RUL-160845
• Publication date in RUL: 05.09.2024

Secondary language

• Language: English
• Title: Mechanical and electronic upgrade of a robotic exoskeleton

Abstract

Robotic exoskeletons are increasingly being used in the fields of medicine, industry, and the military, making their development currently very relevant and important. Since a robotic exoskeleton is in close contact with the human body, it is crucial that its construction is comfortable to use and does not cause injury to the user. This work will present both a mechanical upgrade, which includes the development and fabrication of individual components to make the exoskeleton more comfortable, and an electronic upgrade, which involves replacing relative encoders with absolute encoders to achieve better system performance. The mechanical upgrade involves operations such as modeling, 3D printing, and manual work, while the electronic upgrade involves mounting the encoders, connecting the encoders, and programming. The key results demonstrate successfully implemented improvements and performance measurements of the entire system.

• Keywords: robotic exoskeletons, development, mechanical upgrade, electronic upgrade, comfort, encoders