Izdelava kolesnega mobilnega robota z uporabo 3D-tiska

Bartol, Jernej (author), Zdešar, Andrej (mentor)

V diplomski nalogi smo zasnovali in izdelali šestkolesnega mobilnega robota, ki temelji na odprtokodnem modelu SAWPPY. Robot je sestavljen iz aluminijastih profilov in 3D-tiskanih delov, kar omogoča modularnost, majhno maso in mehansko prilagodljivost. Pogonski sistem sestavljajo šest enosmernih motorjev z enkoderji za vrtenje koles in štirje servo motorji za usmerjanje koles. Implementirali smo regulacijo hitrosti in razvili kinematični model z izračunom trenutnega centra rotacije, kar omogoča natančno in mehansko skladno gibanje brez zdrsavanja. Za upravljanje robota smo uporabili dvonivojsko arhitekturo. Sistem na višjem nivoju (implementiran na vgradnem sistemu Raspberry Pi) z brezžičnim spletnim vmesnikom omogoča daljinsko vodenje z virtualno krmilno palico, na nižjem nivoju (implementiran na mikrokrmilniku Arduino) pa skrbi za regulacijo motorjev in obdelavo podatkov z enkoderjev. Mednivojska komunikacija poteka po komunikacijskem protokolu I²C. Rezultat dela je stabilna, prilagodljiva robotska platforma, primerna za nadaljnji razvoj, raziskave in nadgradnjo v avtonomni sistem z dodatnimi senzorji in algoritmi za navigacijo.

• Language: Slovenian
• Keywords: robotika, 3D-tisk, mobilni robot, robotsko terensko vozilo, kinematični model, PID-regulator, mikrokrmilnik Arduino, vgradni sistem Raspberry Pi, protokol I²C, spletni vmesnik
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FE - Faculty of Electrical Engineering
• Year: 2025
• PID: 20.500.12556/RUL-173077
• COBISS.SI-ID: 248983811
• Publication date in RUL: 12.09.2025

Secondary language

• Language: English
• Title: The making of a wheeled mobile robot with 3D printing

Abstract

This thesis documents the design and development of a six-wheeled mobile robot based on the open-source SAWPPY rover. The robot is constructed from aluminum profiles and 3D-printed components, ensuring modularity, reduced weight, and mechanical flexibility. The propulsion system consists of six DC motors with encoders for wheel rotation and four servo motors for wheel steering. We implemented speed regulation and developed a kinematic model using the Instant Center of Rotation calculation, which enables precise and mechanically consistent motion without slipping. The control system is organized in a two-layer architecture. The high-level system (implemented on an embedded Raspberry Pi) provides wireless remote operation via a web interface with a virtual joystick, while the low-level system (implemented on an Arduino microcontroller) performs motor control and processes encoder data. The interface between the two levels is implemented using the I²C protocol. The result of this work is a stable and versatile robotic platform, suitable for further development, research, and upgrades into an autonomous system with additional sensors and navigation algorithms.

• Keywords: robotics, 3D-print, mobile robot, rover, kinematics model, PID control, Arduino microcontroller, embedded system Raspberry Pi, I²C protocol, web interface