Razvoj mobilnega robota za pregledovanje jeklenih konstrukcij

Malik, Jakob (author), Bračun, Drago (mentor)

Diplomsko delo obravnava zasnovo in izdelavo mobilnega robota za gibanje po jeklenih konstrukcijah. Robot rešuje problem dostopnosti mesta opravljanja dela in je lahko tudi nadomestilo za delavca na mestih, kjer je potrebno opraviti človeku nevarno delo. Najprej je predstavljena primerjava obstoječih rešitev in primeri zasnove stopal plezalnih robotov. Sledijo osnovni izračuni, zasnova robota in programske opreme. Oprijem robotu zagotavljajo elektromagneti nameščeni v stopala, gibanje pa je izvedeno s pomočjo štirih električnih servomotorjev, krmiljenih z mikrokrmilnika. Ta izvaja nizkonivojske ukaze in komunicira z osebnim računalnikom ki ga upravlja. Za upravljanje je bil v okolju Python izdelan krmilnik pozicije. Komunikacija med krmilnikom in osebnim računalnikom poteka po serijski RS-232 komunikaciji. Izdelan in testiran je bil prototipni robot. Testi so pokazali uspešno gibanje robota po ravnih in nagnjenih površinah z naklonom do 45°.

• Language: Slovenian
• Keywords: bio-inspiriran robot pregledovanje jeklenih konstrukcij mehatronski sistem inverzna kinematika
• Work type: Bachelor thesis/paper
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2017
• PID: 20.500.12556/RUL-94958
• Publication date in RUL: 11.09.2017

Secondary language

• Language: English
• Title: Development of a Mobile Robot for Inspection of Steel Constructions

Abstract

This thesis discusses the design and construction of a mobile robot for moving on steel constructions. The robot solves the problem of access to the workplace and could substitute a worker in dangerous situations. The comparison of already existing solutions and examples of the designs of climbing robots’ feet are presented in the beginning. The following topics are basic calculations, the design of the robot and its software. Electromagnets installed onto feet ensure the robot its grip and the movement with the help of four electric servomotors operated by a microcontroller which executes low-level orders and communicates with a PC which controls it. The position controller was created in Python environment. The communication between the controller and the PC happens through serial RS-232 communication. The prototype of a robot was created and tested. The tests show successful movement of the robot on flat and inclined surfaces with inclination up to 45°.

• Keywords: bio-inspired robot steel construction inspection mechatronic system inverse kinematics