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master's thesis
Pneumatski manipulator s transportnim sustavom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:155305
Pucak, Kristijan
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

Pucak, K. (2017). Pneumatski manipulator s transportnim sustavom (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:155305

Pucak, Kristijan. "Pneumatski manipulator s transportnim sustavom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:155305

Pucak, Kristijan. "Pneumatski manipulator s transportnim sustavom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:155305

Pucak, K. (2017). 'Pneumatski manipulator s transportnim sustavom', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 24 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:155305

Pucak K. Pneumatski manipulator s transportnim sustavom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 December 24] Available at: https://urn.nsk.hr/urn:nbn:hr:235:155305

K. Pucak, "Pneumatski manipulator s transportnim sustavom", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:155305

Metadata
TitlePneumatski manipulator s transportnim sustavom
Title (english)Pneumatic manipulator with transport system
AuthorKristijan Pucak
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-12-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Ovaj diplomski rad opisuje projektiranje, implementaciju i funkcionalnost energetskog i upravljačkog sustava za robotski manipulator koji je pogonjen pneumatskim aktuatorima i služi za transport i sortiranje radnih predmeta. Potom je u radu opisana konstrukcija i upravljanje transportnog sustava koji je nadograđen na pneumatski manipulator. Pneumatski manipulator ima tri stupnja slobode gibanja (cilindrična kinematska struktura RTT – rotacija postolja, translacija ruke, translacija konzole ruke) s pneumatskom hvataljkom na kraju mehaničke strukture. Manipulatoru je nadograđen transportni sustav za zaprimanje i otpremanje radnih predmeta, kao i induktivni senzor za detektiranje metalnih predmeta te može obavljati zadatak sortiranja metalnih i nemetalnih radnih predmeta. Gibanjem manipulatora upravlja PLC (programabilni logički kontroler), dok transportnim sustavom upravlja platforma s mikrokontrolerskim sustavom Arduino Uno. Izrađeni pneumatski manipulator s transportnim sustavom može se koristiti u industriji za zadatke u procesu montaže, dodavanja materijala, rukovanja radnim predmetima i dr., gdje bi olakšao ljudski rad.
Abstract (english)
This master thesis describes the design, implementation and functionality of energy and control system for a robotic manipulator which is driven by the pneumatic actuators and used to transport and sorting of work objects. Then, in this paper was described construction and control of the transport system, which was upgraded to the pneumatic manipulator. The pneumatic manipulator has three degrees of freedom of movement (cylindrical kinematics RTT – base rotation, arm translation, arm console translation) with pneumatic grip at the end of the mechanical structure. A transport system has upgraded to the manipulator for receiving and delivering work items as well as an inductive sensor for detecting metal objects so the manipulator can do the task of sorting metal and non-metallic work items. Motion of the manipulator is controlled by the PLC (programmable logic controller), while the transport system is controlled by the board of microcontroller system Arduino Uno. The pneumatic manipulator with the transport system can be used in industry for tasks in the assembly process, adding materials, handling work objects, etc., where it would facilitate human work.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:155305
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 20:45:31