Zapestje in dlan hidravličnih humanoidnih robotskih rok

Valjavec, Tilen (author), Jerman, Boris (mentor), Majdič, Franc (comentor)

Zaradi vse večje uporabe in raziskovanja je tudi na Fakulteti za strojništvo Univerze v Ljubljani prišlo do odločitve, da se razvije in izdela prvi slovenski prototip hidravličnega humanoidnega robota. Diplomska naloga je bila zastavljena s ciljem raziskati to področje in izdelati koncept hidravličnega zapestja ter dlani humanoidnega robota. Ideje za prve koncepte smo črpali iz gibanja človeka, med vsemi koncepti pa smo potem izbrali najbolj perspektivnega in začeli z izračuni statičnih ter dinamičnih sil, ki se pojavljajo v mehanizmih pri gibanju zapestja z bremenom. Po določitvi sil smo naredili izračun vrvi. Potreben je bil tudi izračun hidravličnih komponent in uskladitev koncepta z izračunanimi vrednostmi.

• Language: Slovenian
• Keywords: humanoidni roboti, hidravlika, zapestja, dlani, mehanizmi gibanja
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [T. Valjavec]
• Year: 2021
• Number of pages: XXII, 49 str.
• PID: 20.500.12556/RUL-129175
• UDC: 007.52:621.22:531.3(043.2)
• COBISS.SI-ID: 76486915
• Publication date in RUL: 28.08.2021

VALJAVEC, Tilen, 2021, Zapestje in dlan hidravličnih humanoidnih robotskih rok [online]. Bachelor’s thesis. Ljubljana : T. Valjavec. [Accessed 5 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=129175

Secondary language

• Language: English
• Title: Wrist and palm of the hydraulic humanoid robotic arms

Abstract

Due to increasing use and research, Faculty of Mechanical Engineering, University of Ljubljana decided to develop and manufacture the first Slovenian hydraulic humanoid robot prototype. The diploma thesis was set with the aim of researching the field and developing the concept for the hydraulic wrist and palm of a humanoid robot. For the initial idea of movement and concept, we analyzed the movement of a human and thus obtained ideas for initial concepts, from which we then selected the most promising one and began static and dynamic force calculations that occurs in the mechanisms in the movement of the loaded wrist. After forces were determined, we also performed rope calculations. It was also necessary to calculate the hydraulic components and harmonize the concept with the calculated values.

• Keywords: humanoid robots, hydraulics, wrist, palm, movement mechanisms