Eksperimentalna analiza dvoosnega manipulatorja

Legiša, Lenart (author), Klemenc, Jernej (mentor)

Za pnevmatski dvoosni manipulator smo eksperimentalno določili in analizirali pogoje obratovanja, predvsem glede na pospeške, ki nastanejo na mestu prijemala. Uporabili smo enoosne in troosne pospeškomere ter uporovne merilne lističe. Meritve smo primerjali z rezultati numeričnih simulacij in validirali numerični model. Določili smo kritična mesta na konstrukciji z vidika napetosti ter podali nekaj predlogov za izvajanje preventivnega vzdrževanja in optimizacijo konstrukcije.

• Language: Slovenian
• Keywords: eksperimentalna analiza, manipulatorji, pospeškomeri, merilni lističi, numerična analiza, validacija, preventivno vzdrževanje
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [L. Legiša]
• Year: 2021
• Number of pages: XXIV, 63 str.
• PID: 20.500.12556/RUL-124510
• UDC: 62-236.58:531.768:519.6(043.2)
• COBISS.SI-ID: 51337475
• Publication date in RUL: 28.01.2021

Secondary language

• Language: English
• Title: Experimental analysis of a two-axis manipulator

Abstract

In this paper we described the experimental analysis of a two-axis pneumatic manipulator, specifically in regards to the acceleration of the gripper. For the measurements we used single-axis and triple-axis accelerometers, as well as strain gauges. We compared the measurements with the results of a numerical simulation and validated the numerical model. Finally, we defined the critical stress regions, described a plan for preventive maintenance and suggested some techniques for structural optimization.

• Keywords: experimental analysis, manipulators, accelerometers, strain gauges, numerical analysis, validation, preventive maintenance