Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima

Gložinić, Andrija (2019) Dvonožni hodajući robot pokretan umjetnim pneumatskim mišićima. = Two-legged walking robot driven by pneumatic artificial muscle. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Šitum, Željko.

[img]
Preview
Text
Gložinić_2019_diplomski.pdf - Published Version Jezik dokumenta:Croatian

Download (3MB) | Preview
[img] Text
Gložinić_Andrija_autorska_izjava_diplomski_2019.pdf - Published Version
Restricted to Repository staff only Jezik dokumenta:Croatian

Download (512kB)

Abstract (Croatian)

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

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.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: autonomnost; dvonožni robot; hod; pneumatski
Keywords (Croatian): autonomy; bipedal robot; gait; pneumatic
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 17 Jan 2019 09:58
Last Modified: 25 Feb 2019 13:46
URI: http://repozitorij.fsb.hr/id/eprint/9007

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year