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master's thesis
Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:063146
Vukas, Petra
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

Vukas, P. (2024). Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:063146

Vukas, Petra. "Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:063146

Vukas, Petra. "Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:063146

Vukas, P. (2024). 'Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 05 September 2024, https://urn.nsk.hr/urn:nbn:hr:235:063146

Vukas P. Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 September 05] Available at: https://urn.nsk.hr/urn:nbn:hr:235:063146

P. Vukas, "Aktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:063146

Metadata
TitleAktivni ovjes robotskog sustava za inspekciju građevinskih konstrukcija
Title (english)Active suspension of robotic system for the inspection of building structures
AuthorPetra Vukas
MentorStanko Škec (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-05-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
General Mechanical Engineering (Construction)
Abstract
Razvoj robotike doveo je do primjene robota u različitim industrijama, između ostalog i u građevini. ASAP je primjer robota za korištenje u građevini, to je robot penjač razvijen u CRTA-i koji se koristi za ispitivanje vertikalnih betonskih konstrukcija u građevinarstvu. Tijekom korištenja robota uvidjelo se da podloga po kojoj se robot kreće može sadržavati neravnine pa se daje prijedlog kompenzacije neravnina. Cilj ovog rada je razviti aktivni ovjes za robota penjača koji će se koristiti za kompenzaciju neravnina podloge po kojoj se robot giba. U okviru razvoja provedeno je pretraživanje tržišta i patenata, koncipirano je više mogućih rješenja te je razvijeno odabrano rješenje. Na kraju rada je predstavljen plan prve faze testiranja. Razvijeno rješenje koristi aktuacijski motor čiji se okretni moment prenosi na navojno vreteno. Rotacijom navojnog vretena matica se linearno giba, a zbog toga što je s nosačem kotača fiksno povezana posljedično se giba i nosač kotača.
Abstract (english)
The development of robotics has brought robots into various industries, including civil engineering. ASAP is an example of a robot used in civil engineering, it's a climbing robot developed at CRTA, used for assesment and prediction of infrastructure integrity in the construction industry. During previous use of the robot, it was observed that the surface on which the robot moves may contain irregularities, thus a proposal for compensating for these irregularities is suggested. The aim of this work is to develop an active suspension system for the robot-climber to compensate for irregularities on the surface it moves on. Market and patent research was conducted as part of the development process, several potential solutions were conceptualized, and the selected solution was developed. Finally, a plan for the first phase of testing is presented. The developed solution utilizes an actuation motor whose rotational force is transmitted to a screw shaft. By rotating the screw shaft, the nut moves linearly, and since it is fixedly connected to the wheel carrier, it consequently moves as well.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:063146
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 on2024-05-14 19:27:17