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master's thesis
Oblikovanje i izrada mobilnog robota pokretanog nogama
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:208229
Milković, Ivan
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Milković, I. (2024). Oblikovanje i izrada mobilnog robota pokretanog nogama (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:208229

Milković, Ivan. "Oblikovanje i izrada mobilnog robota pokretanog nogama." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:208229

Milković, Ivan. "Oblikovanje i izrada mobilnog robota pokretanog nogama." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:208229

Milković, I. (2024). 'Oblikovanje i izrada mobilnog robota pokretanog nogama', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 13 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:208229

Milković I. Oblikovanje i izrada mobilnog robota pokretanog nogama [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 July 13] Available at: https://urn.nsk.hr/urn:nbn:hr:235:208229

I. Milković, "Oblikovanje i izrada mobilnog robota pokretanog nogama", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:208229

Metadata
TitleOblikovanje i izrada mobilnog robota pokretanog nogama
Title (english)Design and manufacture of a legged mobile robot
AuthorIvan Milković
MentorPetar Ćurković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-01-25, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
General Mechanical Engineering (Construction)
Abstract
Mobilna robotika sve više je prisutna u svakodnevnom životu. Sve češće ju pronalazimo u našim domovima, industriji, medicini, za vojne upotrebe te hobistički. Glavni gradivni materijali mobilnih robota su polimeri radi svojih dobrih mehaničkih svojstava te male mase. Trenutno su sve veća ulaganja i razvoj 3D printera i aditivnih metoda što omogućuje proizvodnju kompleksnih dijelova. Aditivne tehnologije proizvodnje omogućile su razvoj drugih tehnologija za optimiranje mase i krutosti. Sve više u industriji možemo pronaći komponente koje imaju optimiranu topologiju, no sve više prodire i nova tehnologija generativnog dizajna. Ona omogućuje kreiranje optimiranih struktura iz nule, bez konstruktorovog početnog modela, te se nakon predloženih optimiranih dijelova rade prototipovi za daljnju proizvodnju. Dizajnirani mobilni robot izrađen je od polimernog materijala ABS. Pokretan je nogama te ima 8 rotacijskih stupnjeva slobode. Noge su pokretane s osam NEMA17 elektromotora. Komponente robota optimirane su pomoću generativnog dizajna, te topološkog optimiranja. Usporedbom tih dviju metoda odabrana je konstrukcija s manjom masom kako bi mu se omogućilo lakše pokretanje. Motori robota kontrolirani su pomoću dasduino mikrokontrolera, na bazi arduina, od hrvatskog proizvođača Soldereda.
Abstract (english)
Mobile robotics is increasingly present in everyday life. We can find it more and more often in our homes, industry, medicine, for military and hobby use. The main building materials of mobile robots are polymers due to their good mechanical properties and low mass. Currently, there are increasing investments and development of 3D printers and additive production methods, which enables the production of complex parts. Additive manufacturing technologies enabled the development of other technologies to optimize mass and stiffness. More and more in the industry we can find components that have an optimized topology, but the new technology of generative design is becoming more present. It enables the creation of optimized structures from scratch, without the constructor's initial model, and after the proposed optimized parts, prototypes are made for further production. The designed mobile robot is made of polymer material ABS. It is moved by legs and has 8 rotational degrees of freedom. The legs are powered by eight NEMA17 electric motors. Robot components were optimized using generative design and topological optimization. By comparing these two methods, a construction with a lower mass was chosen to enable it to be started more easily. The robot's motors are controlled using a dasduino microcontroller, based on arduino, from a Croatian manufacturer Soldered.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:208229
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-01-22 16:53:28