Bušenje nehomogenih materijala pomoću robota

Smolec, Marko (2015) Bušenje nehomogenih materijala pomoću robota. = Robotic drilling of inhomogeneous materials. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

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Abstract (Croatian)

Implementiranje industrijskog robota u proces kirurškog bušenja. Specijalna namjena u svrhu postizanja veće točnosti i reduciranja vremena za izvođenje samog postupka operacije, uz smanjenje troškova ulaganja zbog industrijske, a ne medicinske prirode robota. Za potrebe preciznog bušenja nehomogenih materijala napravljen je simulacijski model koji je zatim testiran na eksprerimentnom modelu, zatim na životinjskim kostima koja imaju veliku sličnost sa realnom ljudskom kosti lubanjskog svoda. Kako bi proveli postupak bušenja potrebno je dizajnirati nosivu konstrukciju, postaviti tehnički sustav, te provesti real-time komunikaciju između svih elemenata sustava. U konačnici, samo bušenje treba biti usmjereno i vođeno putem programiranje C++ aplikacije na računalu koja zahtjeva kalibraciju osi gibanja alata i same radne točke alata.

Abstract

The implementation of industrial robot in the neurosurgical procedure, drilling a hole in the skull of a living person to cure illness. We implement robot arm in order to achieve greater accuracy and reduce the time needed to perform the operation, while reducing investment costs. For the purpose of precise drilling inhomogeneous materials we created a simulation model which is tested on experimental model, then on the animal bones that have a strong resemblance to a human flat bone covering his skull. In order to carry out the process of drilling it’s necessary to design the supporting structure, set up a drilling environment and conduct real-time communication between all the elements of the system. Ultimately, drilling procedure will be guided by C++ application on a PC, which also requires tool axis and TCP calibration.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: industrijski robot;TCP;regulacija;bušenje;nehomogeno
Keywords (Croatian): industrial robot;TCP;control;drilling;inhomogeneous
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 26 Nov 2015 12:00
Last Modified: 10 Aug 2018 05:05
URI: http://repozitorij.fsb.hr/id/eprint/4912

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