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master's thesis
Izgradnja i upravljanje momentom serijskog elastičnog aktuatora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:738993
Ratković, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Ratković, I. (2020). Izgradnja i upravljanje momentom serijskog elastičnog aktuatora (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:738993

Ratković, Ivan. "Izgradnja i upravljanje momentom serijskog elastičnog aktuatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:738993

Ratković, Ivan. "Izgradnja i upravljanje momentom serijskog elastičnog aktuatora." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:738993

Ratković, I. (2020). 'Izgradnja i upravljanje momentom serijskog elastičnog aktuatora', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:738993

Ratković I. Izgradnja i upravljanje momentom serijskog elastičnog aktuatora [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:738993

I. Ratković, "Izgradnja i upravljanje momentom serijskog elastičnog aktuatora", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:738993

Metadata
TitleIzgradnja i upravljanje momentom serijskog elastičnog aktuatora
Title (english)Design and Torque Control of a Series Elastic Actuator
AuthorIvan Ratković
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-09-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Serijski elastični aktuator (SEA) je dobiven nadogradnjom na Dynamixel MX-64 aktuator. Za izradu su bili potreban još: magnetski enkoder AS5048A, gumena rotacijska opruga, Arduino Mega2560, rs485 module te dijelovi izrađeni na 3D printeru. Gumena rotacijska opruga je izrađena od prirodne gume oznake 40A u obliku prstena. SEA je napravljen tako da se može primijeniti u aplikacije koje zahtijevaju finu regulaciju momenta, te da ga se koristi kao aktuator u nekom zglobu. SEA aktuator je izveden tako da ima hod od oko 300 stupnjeva. Mjerenjima je trebalo utvrditi odnos zakreta opruge i momenta kojeg daje opruga. Upravljački algoritam koji se izvodi na Mega2560 ima više modova upravljanja: po referentnom momentu, po referentnoj poziciji te da daje moment koji poprima vrijednost stepova, rampe ili sinusoide.
Abstract (english)
The serial elastic actuator (SEA) was obtained by upgrading to a Dynamixel MX-64 engine. The production also required: magnetic encoder AS5048A, rubber rotating spring, Arduino Mega2560, rs485 modules and parts made on a 3D printer. The rotating rubber spring is made of natural ring-shaped rubber 40A. SEA is designed to be applied to applications that require fine torque control and to be used as an actuator in a joint. The SEA aktuator is designed to have a stroke of around 300 degress. The relationship between the spring rotation and the moment given by the spring was determined using the measurements. The control algorithm performed on the Mega2560 has several control modes: by reference torque, by reference position, and to give a torque that takes on the value of steps, ramps, or sinusoids.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:738993
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 13:41:04