Izrada i upravljanje troprstnom hvataljkom

undergraduate thesis

• Title (english): Manufacturing and Control of a Three-Finger Gripper
• Author: Lenard Pavić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Ante Zglav (član povjerenstva)
• Committee member: Ivan Hrabar (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Troprstna mehanička hvataljka dizajnirana je u Solidworks programu. Fizički je
ostvarena 3D printanjem. Korištenje plastike kao materijala je rezultat kompromisa
između ekonomskih i kvalitativnih razloga. Za što bolje i jednostavnije pokretanje
hvataljke korišten je pužni prijenosni mehanizam i sustav dvaju kružnih zupčanika.
Za identifikaciju i provjeru rada motora korišten je program R+ Manager, a upravljanje
hvataljkom ostavareno je programom Matlab. Pri tome su korištene biblioteke za
upravljanje Dynamixel motorima preko Matlaba, funkcije i Graphical User Interface
za lakše upravljanje.

Abstract (english)

Three finger mechanical gripper is designed in Solidworks software. It is made
by 3D printing. Using plastic as a building material comes as a result of compromise
between economic and qualitative reasons. Worm gear and system of two gears are
used for better and simpler controlling of gripper. R+ Manager is used for identification
and checking motor’s performance and Matlab for controlling the gripper. Library for
Dynamixel, functions and Graphical User Interface are used for easier control.

• Keywords: troprstna hvataljka; Solidworks; prsti; falange; zupčanici; pužni prijenos; motor; Dynamixel; R+ Manager; Matlab; GUI
• Keywords (english): three finger gripper; Solidworks; fingers; phalanges; gears; Worm gear; motor; Dynamixel; R+ Manager; Matlab; GUI
• Language: croatian
• URN:NBN: urn:nbn:hr:168:281123
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 21:01:19