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master's thesis
Projektiranje i izrada delta robota s vakuumskom hvataljkom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:313697
Pavlović, Vid
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

Pavlović, V. (2024). Projektiranje i izrada delta robota s vakuumskom hvataljkom (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:313697

Pavlović, Vid. "Projektiranje i izrada delta robota s vakuumskom hvataljkom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:313697

Pavlović, Vid. "Projektiranje i izrada delta robota s vakuumskom hvataljkom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:313697

Pavlović, V. (2024). 'Projektiranje i izrada delta robota s vakuumskom hvataljkom', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 24 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:313697

Pavlović V. Projektiranje i izrada delta robota s vakuumskom hvataljkom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 24] Available at: https://urn.nsk.hr/urn:nbn:hr:235:313697

V. Pavlović, "Projektiranje i izrada delta robota s vakuumskom hvataljkom", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:313697

Metadata
TitleProjektiranje i izrada delta robota s vakuumskom hvataljkom
Title (english)Design and manufacturing of delta robot with a vacuum gripper
AuthorVid Pavlović
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-12-05, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U radu je opisan proces izrade makete Delta robota. Izvedene su jednadžbe kinematike i dinamike robota. Dinamički model izvodi se pomoću principa virtualnog rada pomoću Jacobijeve matrice. Opisana je konstrukcija makete, korišteni dijelovi, te rad upravljačkog programa. Provedena je simulacija inverzne dinamike robota na nekoliko putanji i trajektorija zadanih u vanjskim i unutarnjim koordinatama robota, te se promatraju momenti potrebni za ostvarivanje kretnji, nosivost vakuumske hvataljke, kutovi zglobnih glava te pozicije, brzine i akceleracije u vanjskim koordinatama robota. Objašnjen je tok rada programa ESP 32 mikrokontrolera, princip komunikacije s robotom te strategije upravljanja robotom. Razvijena je računalna aplikacija, koja omogućava jednostavno upravljanje s robotom, te nudi mogućnost pisanja i izvođenje jednostavnih programa.
Abstract (english)
The paper describes the process of making a model of the Delta robot. The equations of kinematics and dynamics of the robot are derived. The dynamic model is made using the principle of virtual work with the help of the Jacobi matrix. The design of the model, the parts used, and the operation of the control program are described. A simulation of the inverse dynamics of the robot was carried out on several paths and trajectories given in the external and internal coordinates of the robot, and the torques required to realize the movements, the load capacity of the vacuum gripper, the angles of the rod ends and the positions, speeds and accelerations in the external coordinates of the robot were observed. The work flow of the ESP 32 microcontroller program, communication with the robot and the strategies of controlling the robot are explained. A computer application was developed, which enables easy control of the robot, and offers the possibility of writing and running simple programs.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:313697
Study programmeTitle: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechanics and Robotics, Autonomous Systems, Mechatronics and Robotics
Course: Mechatronics and Robotics
Study programme type: university
Study level: graduate
Academic / professional title: sveučilišni/a magistar/magistra inženjer/inženjerka strojarstva (sveučilišni/a magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-11-28 12:26:03