Elektrohidraulički robotski manipulator

Janković, Ivan (2015) Elektrohidraulički robotski manipulator. = Electrohydraulic robotic manipulator. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Šitum, Željko.

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Abstract (Croatian)

Elektrohidraulički robotski manipulator (EHROM) je izveden u elektro-hidrauličkoj konfiguraciji: elektromotorom pokretana LS-pumpa i izvršni članovi (hidromotor za prvi rotacijski zglob i dva hidraulička cilindra za osiguravanje tražene nosivosti). LS regulacija rada pumpe, odnosno regulacija rada pumpe impulsom tlaka (eng. Load sensing- LS) ima za zadatak prilagođavanje tlaka i protoka pumpe trenutnim zahtjevima izvršnih elemenata. Upravljanje je izvršeno na tri načina, mehanički preko poluga na razvodniku, pomoću joysticka te upravljanjem preko računala. EHROM je izrađen u potpunosti i koristi se u obrazovne svrhe.

Abstract

Electrohydraulic robotic manipulator (EHROM) is designed in electro-hydraulic configuration - electric motor driven by LS-pump and executive components (hydraulic motor for the first rotary joint and two hydraulic cylinders to provide the required capacity). LS regulation of a pump, i.e. regulation of the pump pulse pressure (Load sensing - LS) has the task of adjusting the pressure and flow of the pump to current requirements by actuators. Control is done in three ways - mechanical lever on hydraulic valve, joystick and by the ability to control it with computer. EHROM is made in full and used for educational purposes.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: Manipulator; Hidraulika; Upravljanje impulsom tlaka(LS); Hidraulički sustavi; Upravljanje
Keywords (Croatian): Manipulator; Hydraulics; Load Sensing; Hydraulic system; Control
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 26 Nov 2015 09:28
Last Modified: 30 Nov 2015 13:39
URI: http://repozitorij.fsb.hr/id/eprint/4851

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