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undergraduate thesis
Bežično upravljanje elektrohidrauličkim robotskim manipulatorom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:384347
Žgela, Dalibor
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

Žgela, D. (2017). Bežično upravljanje elektrohidrauličkim robotskim manipulatorom (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:384347

Žgela, Dalibor. "Bežično upravljanje elektrohidrauličkim robotskim manipulatorom." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:384347

Žgela, Dalibor. "Bežično upravljanje elektrohidrauličkim robotskim manipulatorom." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:384347

Žgela, D. (2017). 'Bežično upravljanje elektrohidrauličkim robotskim manipulatorom', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 14 June 2024, https://urn.nsk.hr/urn:nbn:hr:235:384347

Žgela D. Bežično upravljanje elektrohidrauličkim robotskim manipulatorom [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 June 14] Available at: https://urn.nsk.hr/urn:nbn:hr:235:384347

D. Žgela, "Bežično upravljanje elektrohidrauličkim robotskim manipulatorom", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:384347

Metadata
TitleBežično upravljanje elektrohidrauličkim robotskim manipulatorom
Title (english)Wireless control of an electro-hydraulic robotic manipulator
AuthorDalibor Žgela
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-03-03, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Elektrohidraulički robotski manipulator (EHROM), razvijen u Laboratoriju za automatiku i robotiku, namijenjen je manipulaciji predmeta velikih masa do 200 kg. Manipulator ima tri stupnja slobode gibanja, rotaciju postolja, rotaciju ruke i translaciju konzole ruke. Na kraju mehaničke strukture manipulatora se nalazi hidraulička prihvatnica. Stupnjevi slobode gibanja i prihvatnica su hidraulički aktuirani. Trenutno je navedene članove manipulatora moguće upravljati izravno putem poluga na proporcionalnom ventilskom bloku ili pomoću odvojene upravljačke ručice. Cilj ovog rada je ostvariti bežično upravljanje, putem Bluetooth veze, ventilskim blokom pomoću Arduino mikrokontrolera i izrađenog upravljačkog međusklopa. U prvom dijelu rada će biti opisane izvorne komponente mehaničkog, pogonskog, mjernog i upravljačkog sustava elektrohidrauličkog robotskog manipulatora. Bit će dane osnovne tehničke karakteristike navedenih komponenti kao i izrazi za određivanje upravljanih koordinata iz mjernih signala senzora. Potom će biti opisan sam postupak izrade sustava koji uključuje izradu mobilne aplikacije, upravljačke pločice-međusklopa, programiranje Arduino mikrokontrolera i postupak sklapanja upravljačkog ormara. Na kraju će biti dane smjernice za daljni razvoj upravljačkog sustava s ciljem približavanja automatskom upravljanju sustava.
Abstract (english)
Electrohydraulic robotic manipulator (EHROM), intended for manipulation of objects weighing up to 200 kg, was developed in the Laboratory of Automation and Robotics. The manipulator has three degrees of freedom, rotation of the base arm, rotation of arm and translation of the arm console. Gripper is placed at the end of the mechanical structure. All degrees of freedom as well as the gripper are hydraulicaly actuated. The manipulator can be controlled using levers on the proportional hydraulic valve or using a joystick. The goal of this thesis is to achieve wireless control of the proportional valve group via Bluetooth connection, using Arduino microcontroler and self-made controlling interface. In the first part of the paper original components consisting mechanical, drive, sensoric and controlling systems will be described. Basic technical specifications will be presented as well as expressions for determining values of variables describing the current position of the robot in dependence of the voltage levels of signals read from sensors. Afterwards, the design process of the control system will be given which includes development of mobile phone app, controller interface, programming of Arduino microcontroler and the process of the assembly of components. Finally, guidelines for further development of the control system with the intention of achieving automated control will be presented.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:384347
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 18:52:23