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undergraduate thesis
Konstrukcija dvoosnog mehanizma robotske glave
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. urn:nbn:hr:235:190542
Špičko, Marino
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

Špičko, M. (2015). Konstrukcija dvoosnog mehanizma robotske glave (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:190542

Špičko, Marino. "Konstrukcija dvoosnog mehanizma robotske glave." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. https://urn.nsk.hr/urn:nbn:hr:235:190542

Špičko, Marino. "Konstrukcija dvoosnog mehanizma robotske glave." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2015. https://urn.nsk.hr/urn:nbn:hr:235:190542

Špičko, M. (2015). 'Konstrukcija dvoosnog mehanizma robotske glave', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:190542

Špičko M. Konstrukcija dvoosnog mehanizma robotske glave [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2015 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:235:190542

M. Špičko, "Konstrukcija dvoosnog mehanizma robotske glave", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:235:190542

Metadata
TitleKonstrukcija dvoosnog mehanizma robotske glave
Title (english)Design of two-axis mechanism of robotis head
AuthorMarino Špičko
MentorBojan Jerbić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2015-03-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom radu prikazana je konstrukcija robotske glave. Ona će biti opremljena tablet uređajem, na kojem će se prikazivati ekspresije lica robota, i vizijskim sustavom (Microsoft Kinect) koji će robotu omogućiti prepoznavanje osoba i objekata u okolini. Također će Kinect omogućiti interakciju osobe i robota pomoću naredbi rukom, te glasovnih naredbi. U prvom poglavlju prikazan je razvoj robotike kroz povijest: od prvog mehaničkog lava Leonarda da Vincija, preko otkrića teleoperatera i razvoja numerički upravljanih alatnih strojeva, do modernih robota. U drugom poglavlju prikazat će se konstrukcija mehanizma za dvoosnu manipulaciju. Ovakav je mehanizam potrebno konstruirati da bi se glava mogla gibati s obzirom na položaj osobe u prostoru. U trećem poglavlju prikazat će se konstrukcija stalka za tablet. Postoji zahtjev prema kojem treba postojati mogućnost prihvata tablet uređaja raznih dimenzija. Prema tome, stalak mora biti fleksibilan u određenoj mjeri. Također je potrebno na tom stalku predvidjeti i način učvršćenja Kinecta, koji će se gibati zajedno s tablet uređajem, a nalazit će se iznad tableta. U četvrtom poglavlju izradit će se simulacija kretanja robotske glave. Ovu je simulaciju potrebno napraviti iz razloga da se dobije uvid koliko se može zakretati glava robota, a da ne dođe do kolizije s drugim elementima. Zahtjev koji je pritom potrebno realizirati jest da se glava može zakretati za 90o u lijevu i desnu stranu. U petom poglavlju opisat će se Microsoft Kinect. Prikazati će se način rada Kinect uređaja, te na koji način omogućava interakciju čovjeka s računalom, odnosno robotom. Šesto poglavlje obuhvatit će parametarsko programiranje. Ovakvim programiranjem omogućit će se da se određene dimenzije povežu s utjecajnim parametrima. Promjenom tih parametara mijenjat će se dimenzije koje su s njima povezane. CATIA ima mogućnost generiranja tablice za MS Excel, u koju će se unositi vrijednosti parametara. Unošenjem novih vrijednosti parametara u Excel tablicu automatski će se mijenjati dimenzije modela u CATIA-i, bez potrebe ulaženja u program. Posljednje poglavlje prikazat će način i redoslijed sklapanja robotske glave.
Abstract (english)
In this work there will be shown a construction of a robot head. It will be equipped with tablet device, on which we will be able to see robot`s facial expressions, and vision system (Microsoft Kinect) which will enable a robot to recognize people and objects in it`s environment. Kinect will also enable interaction between people and robot with command by hand and voice commands. In the first section a development of robotics will be shown, from Leonardo da Vinci`s first mechanic lion, through the discovery of teleoperator and development of numericaly managed machines, to modern robots. In second section we will show a construction of mechanism for twoaxis manipulation. That kind of mechanism is needed to be constructed so that head could move with respect to the position of person in room. In third section, a construction of stand for tablet will be shown. The stand has to be flexible so that it can support tablets of various dimensions. Moreover, it has to be predicted how Kinect will be attached to the stand, so it would move along with tablet while standing over it. In fourth section, simulation of moving of robot`s head will be constructed. This simulation has to be created so that we get insight in how much robot`s head can move so that no colision with other elements happen. While considering that, we also have to accomplish that head can move 90o in both, left and right way. In fifth section, Microsoft Kinect will be described. There will be shown how it works and how it enables the interaction between human and robot. Sixth section will cover a parametric programming. That kind of programming will enable connecting of specific dimensions and belonging parameters. Changing of these parameters will also change dimensions that are connected with them. CATIA has an ability to generate tables for MS Excel, in which parameters will be entered. Entering new values of parameters in Excel table will automaticaly change dimensions of model in CATIA, so there will be no need for entering in program. In the last section, the way and order of assembly of robot`s head will be shown.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:190542
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
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Created on2019-05-22 12:43:11