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master's thesis
Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. urn:nbn:hr:235:706420
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

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Gložinić, A. (2019). Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:706420

Gložinić, Andrija. "Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:706420

Gložinić, Andrija. "Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2019. https://urn.nsk.hr/urn:nbn:hr:235:706420

Gložinić, A. (2019). 'Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 24 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:706420

Gložinić A. Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2019 [cited 2024 December 24] Available at: https://urn.nsk.hr/urn:nbn:hr:235:706420

A. Gložinić, "Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:235:706420

Metadata
TitleDvonožni hodajući robot pokretan umjetnim pneumatskim mišićima
Title (english)Two-legged walking robot driven by pneumatic artificial muscle
AuthorAndrija Gložinić
MentorŽeljko Šitum (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2019-01-24, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Unutar ovog rada izrađena je i sastavljena konstrukcija autonomnog dvonožnog hodajućeg robota pokretanog umjetnim pneumatskim mišićima. Način ostvarenja hoda teži imitaciji biološkog modela, pa pneumatski mišići predstavljaju dobru alternativu električnim pogonima zbog pogodnog svojstva elastičnosti. Za ostvarenje gibanja koristi se pneumatski pogonski sustav napajan električnom baterijom, dok se upravljanje vrši pomoću mikrokontrolera. Autonomnost sustava osigurana je izvorima stlačenog zraka i električne energije, a energija se pogonskim komponentama dovodi preko releja okidanih mikrokontrolerom. Unutar rada postavljeni su temelji za regulaciju planarnog hoda dvonožnog robota. Izveden je pojednostavljeni idealizirani dinamički model robota, kao i dinamički model pneumatskih mišića. Pravilnom regulacijom izvedenih modela želi se postići stabilan dvonožni hod projektiranog sustava.
Abstract (english)
This paper deals with the construction and assembly of an autonomous two-legged walking robot actuated by artificial pneumatic muscles. Movement of the robot is designed to simulate biological gait so pneumatic muscles present a good alternative to electric servo drives due to elasticity property. Motion is achieved with a system of pneumatic actuators driven by electric battery based on the microcontroller algorithm. The autonomy of the robot is achieved by using built-in power supplies of compressed air and electric energy. The paper presents basics for the regulation of planar gait of a two-legged robot. A simplistic dynamic model is presented as well as a dynamic model of a pneumatic muscle. By a well-designed regulator for given models, a stable walk is expected.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:706420
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
Embargo expiration date: 0000-00-00
Terms of useLicence In copyright icon
Created on2019-05-21 12:54:08