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undergraduate thesis
Upravljački sklop za električnu hvataljku
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2016. urn:nbn:hr:235:883678
Domjanić, Filip
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

Domjanić, F. (2016). Upravljački sklop za električnu hvataljku (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:883678

Domjanić, Filip. "Upravljački sklop za električnu hvataljku." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2016. https://urn.nsk.hr/urn:nbn:hr:235:883678

Domjanić, Filip. "Upravljački sklop za električnu hvataljku." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2016. https://urn.nsk.hr/urn:nbn:hr:235:883678

Domjanić, F. (2016). 'Upravljački sklop za električnu hvataljku', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 29 April 2024, https://urn.nsk.hr/urn:nbn:hr:235:883678

Domjanić F. Upravljački sklop za električnu hvataljku [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2016 [cited 2024 April 29] Available at: https://urn.nsk.hr/urn:nbn:hr:235:883678

F. Domjanić, "Upravljački sklop za električnu hvataljku", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:235:883678

Metadata
TitleUpravljački sklop za električnu hvataljku
Title (english)Controler for electric gripper
AuthorFilip Domjanić
MentorBojan Jerbić (mentor)
MentorBojan Šekoranja (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2016-03-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Zadatak ovog rada je primjena servo-električne hvataljke kojom se upravlja pomoću RS232 serijske veze. Komunikacija današnjih robota s okolinom najčešće se ostvaruje putem TCP/IP protokola, koji postupno istiskuje klasičnu serijsku komunikaciju iz upotrebe. Zbog toga moderne upravljačke jedinice više nemaju serijski priključak što onemogućuje izravno povezivanje s ovakvom vrstom hvataljke. Da bi se hvataljka i dalje mogla koristiti potreban je posrednik koji će imati ulogu prevoditelja signala između hvataljke i upravljačkog računala robota. U takvoj situaciji obično se koristi računalo kao posrednik u upravljanju serijskom vezom, ali je takvo rješenje skupo. Daleko jednostavnije i jeftinije rješenje je primjena mikrokontrolera pomoću kojeg se realizirala komunikacija između hvataljke i upravljačke jedinice robota. Mikrokontroler može komunicirati s robotom putem TCP/IP protokola, a naredbe prema hvataljci prilagođavati obliku prihvatljivom hvataljci te ih upućivati RS232 komunikacijskim protokolom na izvršavanje. Isto tako, vrijedi i obrnuto, informaciju iz hvataljke primljene putem RS232 komunikacije prilagođava se upravljačkoj jedinici robota te šalje TCP/IP protokolom upravljačkoj jedinici robota.
Abstract (english)
Task of this work is application of servo-electric gripper controlled by Serial RS232 connection. Today's robots usually communicate with the environment via TCP/IP protocol which gradually displaces conventional serial communication from use. Therefore, modern control unit no longer have a serial port so gripper direct connection is not possible. If we want to use gripper anyway we need same device which will convert signals between gripper and control unit of a robot. In that situation desktop computer is usually used for controlling serial connection, but that solution is expensive. Far simpler and cheaper solution is usage of a microcontroller with which is realized the communication between the gripper and robot control unit. The microcontroller can communicate with the robot via TCP / IP protocol, and adjust commands for gripper to form acceptable to gripper and sends it via RS232 communication for execution. Likewise, the information received from the grippers trough RS232 communication is adapted for the control unit of the robot and sent trough TCP/IP protocol to control unit of the robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:883678
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
Terms of useLicence In copyright icon
Created on2019-05-22 15:45:08