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undergraduate thesis
Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:534637
Uremović, Domagoj
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Uremović, D. (2017). Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:534637

Uremović, Domagoj. "Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:534637

Uremović, Domagoj. "Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:534637

Uremović, D. (2017). 'Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 19 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:534637

Uremović D. Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 December 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:534637

D. Uremović, "Razvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:534637

Metadata
TitleRazvoj virtualnog modela elektro-hidrauličkog robotskog manipulatora
Title (english)The development of the virtual model of an electro-hydraulic robotic manipulator
AuthorDomagoj Uremović
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-09-29, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Kroz prizmu 3D mjerenja u radu je prvo objašnjeno kako funkcioniraju mjerne tehnike, što se sve može mjeriti, kako treba tretirati ili pripremati mjerne objekte te koliko je takva tehnologija napredovala od svojih početaka. Potom slijedi primjer jednog takvog mjerenja na elektro-hidrauličkom manipulatoru čiji će se rezultati dalje koristiti pri izradi kinematičkog modela istog stroja. Uz izmjerene vrijednosti za izradu kinematičkih modela koristit će se i dimenzije iz tehničke dokumentacije te će se napraviti usporedba rezultata. Cilj rada je stvaranje uvjeta za mogućnost računalnog upravljanja već spomenutog elektro-hidrauličkog robotskog manipulatora. Njegove su sadašnje mogućnosti upravljanja isključivo preko direktnih naredbi koje se zadaju ili preko četriju ručica na ventilskom bloku, kojima se ručno upravlja protokom ulja prema aktuatorima, ili preko komandne palice (joysticka). Za potrebe takvog upravljanja potrebno je izvesti kinematičke modele manipulatora te izraziti upravljane vrijednosti preko vanjskih koordinata. Za prikupljanje dimenzija potrebnih za izračun kinematičkog modela koristi se besplatni program GOM Correlate koji je u stanju iz jednostavne snimke gibanja manipulatora omogućiti potrebne informacije. Prije izrade same snimke potrebno je napraviti jednostavnu pripremu koja je detaljno objašnjena u tekstu.
Abstract (english)
Through the prism of 3D measurements in the thesis, it was first explained how measuring techniques work, what can be measured, how to handle or prepare measuring objects and how much technology has progressed since its inception. Then an example of such a measurement is performed on the electro-hydraulic manipulator whose results will be further used in the design of the kinematic model of the same machine. Except measured values for kinematic models, measures from the technical documentation will also be used and results will be compared. Main objective of the work is to create conditions for the possibility of computer control of already mentioned electro-hydraulic robot manipulator. Its current control capabilities are solely through direct commands, or via the four-hand lever on the vantile block by which oil flow is manually controlled to the actuators or via the joystick. For the purposes of such control, it is necessary to derive kinematic manipulator models and to express the controlled values through external coordinates. To collect the dimensions needed to calculate the kinematic model, a free GOM Correlate program is used which is able to provide the necessary information from simple motion of manipulator. Before making the recording, simple preparation is needed which is elaborated in this thesis.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:534637
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 20:23:16