Izdelava robota z večsmernimi kolesi

ZUPANČIČ, GAŠPER (author), Klančar, Gregor (mentor)

Roboti, ki omogočajo gibanje v vse smeri, se imenujejo holonomični roboti. S svojimi štirimi večsmernimi kolesi (Omni wheels) se lahko robot premika ali vrti v vse smeri brez spremembe orientacije. Načrtan je bil tridimenzionalni nosilni okvir mobilnega robota, ki je bil natisnjen na 3D tiskalniku. Nanj so pritrjene komponente robota. Premikanje je bilo realiziramo s koračnimi motorji, ki omogočajo zelo natančno pozicioniranje brez povratne zanke, vse skupaj pa poteka pod nadzorom mikrokrmilnika Arduino Mega. Premik povzročimo z vnosom referenčnih vrednosti, izvrši pa se preko brezžične povezave Bluetooth.

• Language: Slovenian
• Keywords: Arduino, robot, večsmerno kolo, koračni motor
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2016
• PID: 20.500.12556/RUL-85126
• Publication date in RUL: 13.09.2016

Secondary language

• Language: English
• Title: Development of the robot with omidirectional wheels

Abstract

Robots that allow movement in all directions, are called holonomic robots. With its four multi–directional wheels (Omni wheels), the robot can move or rotate in any direction without changing its orientation. A supporting frame of the mobile robot was drawn and was then printed on a 3D printer. Robot components are attached to it. The moving was realized with stepper motors, which enable very accurate positioning without any feedback. The motors are controlled with a microcontroller Arduino Mega. The movement is caused with the input of new referent values and is executed via Bluetooth wireless connection.

• Keywords: Arduino, robot, Omni wheel, stepper motor