Izgradnja i upravljanje momentom serijskog elastičnog aktuatora

master's thesis

• Title (english): Design and Torque Control of a Series Elastic Actuator
• Author: Ivan Ratković
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-09-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Serijski elastični aktuator (SEA) je dobiven nadogradnjom na Dynamixel MX-64 aktuator. Za izradu su bili potreban još: magnetski enkoder AS5048A, gumena rotacijska opruga, Arduino Mega2560, rs485 module te dijelovi izrađeni na 3D printeru.
Gumena rotacijska opruga je izrađena od prirodne gume oznake 40A u obliku prstena.
SEA je napravljen tako da se može primijeniti u aplikacije koje zahtijevaju finu regulaciju momenta, te da ga se koristi kao aktuator u nekom zglobu.
SEA aktuator je izveden tako da ima hod od oko 300 stupnjeva.
Mjerenjima je trebalo utvrditi odnos zakreta opruge i momenta kojeg daje opruga.
Upravljački algoritam koji se izvodi na Mega2560 ima više modova upravljanja: po referentnom momentu, po referentnoj poziciji te da daje moment koji poprima vrijednost stepova, rampe ili sinusoide.

Abstract (english)

The serial elastic actuator (SEA) was obtained by upgrading to a Dynamixel MX-64 engine. The production also required: magnetic encoder AS5048A, rubber rotating spring, Arduino Mega2560, rs485 modules and parts made on a 3D printer.
The rotating rubber spring is made of natural ring-shaped rubber 40A.
SEA is designed to be applied to applications that require fine torque control and to be used as an actuator in a joint.
The SEA aktuator is designed to have a stroke of around 300 degress.
The relationship between the spring rotation and the moment given by the spring was determined using the measurements.
The control algorithm performed on the Mega2560 has several control modes: by reference torque, by reference position, and to give a torque that takes on the value of steps, ramps, or sinusoids.

• Keywords: serijski elastični aktuator(SEA); Dynamixel; Arduino; ros; upravljanje po momentu; rotacijska opruga
• Keywords (english): serial elastic actuator(SEA); Dynamixel; Arduino; ros; torque control; rotating spring
• Language: croatian
• URN:NBN: urn:nbn:hr:168:738993
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 13:41:04