Izrada silikonske hvataljke za manipulaciju osjetljivih predmeta

undergraduate thesis

• Title (english): Soft gripper for object manipulation
• Author: Roman Kos
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Marsela Polić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U sklopu izrade silikonske hvataljke samostalno je dizajnirana, isprintana i izrađena cjelokupna konstrukcija hvataljke izuzev elektroničkih dijelova. Svaki dio koji se koristi pričvršćen je na bazu hvataljke tako da sve izgleda kao jedna cjelina koja se napaja iz računala preko usb kabela. Dynamixel motoru koji pokreće prst podešeni su parametri i način rada kako bi se njime moglo upravljati preko Arduino pločice. Na Arduino pločicu prenesen je kod koji služi za pokretanje prsta pomoću dynamixela. Hvataljka je testirana s jednim prstom kojim su uspješno prihvaćena dva predmeta različite veličine, oblika i mase. Navedena je potencijalna nadogradnja projekta s flex senzorima te dodatnim prstima i motorima, ali taj dio nije testiran.

Abstract (english)

As part of making silicone gripper, the entire construction of gripper is self-made,
designed and printed with the exception of electronic parts. Each part that is used is
attached to the base of gripper so that everything looks like a whole that is powered
from the computer through the usb cable. Parameters and mode of the dynamixel motor
that controls the fingers are set so that it can be operated through the Arduino board.
Code that is used for controlling fingers with dynamixel is uploaded to the Arduino
board. Gripper was tested with one finger that successfully accepted two items of
different sizes, shapes and masses. A potential upgrade of the project with flex sensors
and additional fingers and motors was mentioned, but that part has not been tested

• Keywords: 3D modeliranje; 3D printanje; prst; Dynamixel; Arduino
• Keywords (english): 3D modeling; 3D printing; finger; Dynamixel; Arduino
• Language: croatian
• URN:NBN: urn:nbn:hr:168:251490
• 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 19:13:45