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master's thesis
Razvoj petosnog robota paralelne kinematike
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. urn:nbn:hr:235:236966
Božić, Matej
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

Božić, M. (2020). Razvoj petosnog robota paralelne kinematike (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:236966

Božić, Matej. "Razvoj petosnog robota paralelne kinematike." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:236966

Božić, Matej. "Razvoj petosnog robota paralelne kinematike." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2020. https://urn.nsk.hr/urn:nbn:hr:235:236966

Božić, M. (2020). 'Razvoj petosnog robota paralelne kinematike', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:236966

Božić M. Razvoj petosnog robota paralelne kinematike [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2020 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:235:236966

M. Božić, "Razvoj petosnog robota paralelne kinematike", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:235:236966

Metadata
TitleRazvoj petosnog robota paralelne kinematike
Title (english)Design of five-bar parallel robot
AuthorMatej Božić
MentorBojan Jerbić (mentor)
MentorMarko Švaco (pomoć pri izradi, neposredni voditelj)
Committee memberBojan Jerbić (predsjednik povjerenstva)
Committee memberJosip Kasać (član povjerenstva)
Committee memberMihael Cipek (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2020-04-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Tema ovog rada je razvoj petosnog robota paralelne kinematike. Cilj je napraviti robota od početnog koncepta do eksperimentalnog postava koji može izvršavati dane zadatke. Razvoj je krenuo od odabira ulaznih parametra robota u ovisnosti o zadanim ograničenjima zadataka. Napravljena je kinematika robota i odabrana veličina radnog područja. Kroz nekoliko iteracija koncepata robota odabran je jedan koji je išao u daljnju razradu i za koji su provedene simulacije. Iz simulacija su odabrani aktuatori te je iz odabranih aktuatora napravljen ostatak robota. Nakon razrađene konstrukcije, dijelovi robota su išli na izradu te je nakraju robot montiran. Za robot je potom napravljeno upravljanje preko grafičkog sučelja i vizijskih sustava u Python programskom jeziku.
Abstract (english)
The topic of this master thesis was the development of a 5-bar parallel kinematics robot. The goal of this thesis was to make a robot from the first concept to a working prototype that is capable of executing given tasks. Development started from picking appropriate robot parameters from constraints given in the task. The kinematics and working area of the robot were made. Through several iterations of robot concepts, one was chosen that went into the detailed development and simulations. Actuators were selected based on these simulations and from the rest of the robot, development was done based on actuators. After robot construction was done, its parts were sent to production and in the end, the robot was assembled. Then, the program for controlling a robot through a graphical user interface was done in Python programming language.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:236966
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 on2020-04-03 10:54:58