prikaz prve stranice dokumenta Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima
  Download
PDF 22.75 MB
undergraduate thesis
Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:439598
Gložinić, Andrija
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

Gložinić, A. (2017). Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:439598

Gložinić, Andrija. "Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:439598

Gložinić, Andrija. "Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:439598

Gložinić, A. (2017). 'Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 14 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:439598

Gložinić A. Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 July 14] Available at: https://urn.nsk.hr/urn:nbn:hr:235:439598

A. Gložinić, "Projektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:439598

Metadata
TitleProjektiranje dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima
Title (english)Design of a two legged walking robot driven by pneumatic artificial muscles
AuthorAndrija Gložinić
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-02-23, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
General Mechanical Engineering (Construction)
Abstract
Tema ovog rada je projektiranje autonomnog humanoidnog mobilnog robota pokretanog umjetnim pneumatskim mišićima. Dvonožni hod predstavlja jedan on najsloženijih dinamičkih procesa u robotici. Postizanje stabilnosti takvih sustava zahtijeva dobro osmišljenu konstrukciju i adekvatan upravljački algoritam. Autonomnost mobilnog pneumatskog robota podrazumijeva vlastito napajanje zrakom. Rad se ponajprije bavi projektiranjem mehaničke konstrukcije hodajućeg dvonožnog robota. Predloženi su svi potrebni djelovi za izradu humanoidnog robota. Predložene su smjernice za praktičnu izvedbu konstrukcije i opisan je način spajanja dijelova. Nadalje odabrane su komponente pneumatskog, mjernog i upravljačkog djela sustava. Opisani su pripadni stupnjevi slobode gibanja robota zajedno s njihovim ograničenjima. Također su opisani rad energetskog i upravljačkog sustava. Humanoidni robot konstruiran je u CAD alatu i prikazana je željena simlacija hoda.
Abstract (english)
This paper deals with design of autonomous humanoid mobile robot actuated by artificial pneumatic muscles. Bipedal walk is one of the most complex dynamic processes in robotics. Achieving stability of such systems requires a well designed mechanical structure and adequate control algorithm. Autonomy of mobile pneumatic robot implies built in pneumatic power supply. This paper primarily focuses on the design of mechanical structure of bipedal walking robot. All parts necessary for production of a humanoid robot are proposed. Guidelines for the practical design of the construction are provided and method for connecting parts is decribed. Furthermore all components of pneumatic, measuring and control systems are provided. Associated degrees of freedom and their limitations are described. Operating mode of power and control systems are also described. Humanoid robot is constructed in CAD program and the simulation of bipedal walk is shown.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:439598
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 18:54:54