Konstrukcija i analiza robota paralelne kinematske strukture

Vuglač, Tomislav (2015) Konstrukcija i analiza robota paralelne kinematske strukture. = Design and analysis of robot with parallel kinematics structure. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Udiljak, Toma.

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Abstract (Croatian)

U visokoproduktivnim industrijskim okruženjima često se primjenjuju roboti sa serijskom kinematskom strukturom ili specijalno konstruirani manipulatori. Iako navedeni robotski sustavi općenito pružaju veliku fleksibilnost u odnosu na specijalizirane manipulatore, njihova kinematska struktura često uvjetuje dinamiku proizvodnog procesa. U slučajevima kada je potrebno osigurati visoku dinamiku posluživanja strojeva uz zadržavanje fleksibilnosti, prednost se često daje robotskim sustavima s paralelnom kinematskom strukturom. U radu je dan pregled postoječih izvedbi robota s paralelnom kinematskom strukturom te konstrukcijsko rješenje robota paralelne kinematske strukture s 3 stupnja slobode gibanja prikladnog za posluživanje alatnih strojeva obradcima mase do 5kg. Također su odabrani pogonski elementi stroja, tj. ležajevi kojima je uležišteno kuglično navojno vreteno te ležajevi kojima su uležištene komponente razvijenog univerzalnog zgloba. Model robota je parametarski oblikovan u CAD/CAE/CAM sustavu Catia v5 gdje je zatim numeričkom metodom konačnih elemenata proračunata krutost univerzalnog zgloba i cjelokupnog stroja paralelne kinematske strukture.

Abstract

In high efficient industrial surroundings, robots with serial kinematic structure or special designed manipulators are frequently used. Although theese robotic systems provide great flexibility in comparison to specialised manipulators, their kinematic structure often conditions the dynamic of production system. In cases when high dynamic of supplying the machine tools is needed while maintaining flexibility, advantage is given to robotic systems with parallel kinematic structure. In this thesis, review of existing designs of parallel kinematic machines is given. Also design solution of parallel kinematic structure machine with 3 deegrees of freedom and capability of supplying machine tools with parts weighing up to 5 kg is given. Driving elements of machines are also given in this thesis. Those driving elements are bearings supporting the ballspindle and bearings supporting designed universal joint. Robotic model is parametrically designed in CAD/CAM/CAE package Catia v5 where stiffness estimation of universal joint and parallel kinematic machine is conducted.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: paralelna kinematika; krutost; manipulator
Keywords (Croatian): parallel kinematics; rigidity; manipulator
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 1200 Department of Technology > 1230 Chair of Machine Tools
Date Deposited: 02 Dec 2015 09:24
Last Modified: 02 Dec 2015 09:24
URI: http://repozitorij.fsb.hr/id/eprint/4906

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