Izgradnja jednonožnog momentom upravljanog robota

master's thesis

• Title (english): Construction of a torque controlled one legged robot
• Author: Martin Džida
• 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: 2021-02-19, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ovaj rad se bavi dizajniranjem konstrukcije momentom upravljanog robota. Dizajniran je i testiran aktuator koji je upravljan po momentu. Aktuator je dizajniran na dva načina. Prvo se razmatrao izravan pogon, a zatim i kvazi izravan pogon. Pokazano je da aktuator u izravnom pogonu daje stabilne i željene momente. Definirane su i gornje granice tih vrijednosti. Kvazi izravnim pogonom je pokazano da se mogu dobiti veliki momenti i analizirane su nelinearne pojave. Uočeni su problemi s izradom dijelova 3D printerom za reduktor. Implementiran je i testiran upravljački algoritam pomoću kaskade PID regulatora i definiranje trajektorije brzine i akceleracije. Pokazano je stabilno i kontrolirano upravljanje gravitacijskim teretom. Također je analizirana struktura planarnog četverokutnog zglobnog spoja. Ona je dalje primijenjena u konstrukciji robota. Konstruirana je konstrukcija noge robota koja implementira dupli četverokutni zglobni spoj i upravljanje dizajniranim aktuatorima.

Abstract (english)

This paper deals with the design of a torque-controlled robot structure. A torque-controlled actuator has been designed and tested. The actuator is designed in two ways. Direct drive was considered first, followed by quasi-direct drive. It has been shown that the actuator in direct drive gives stable and desired moments. The upper limits of these values are also defined. Quasi direct drive has shown that large moments can be obtained and nonlinear phenomena are analyzed. Problems were noticed with the construction of parts by a 3D printer for the transmission. The control algorithm was implemented and tested using the PID controller cascade and speed and acceleration trajectory definition. Stable and controlled gravitational load control is shown. The structure of the planar quadrangular joint was also analyzed. It is further applied in robot construction. A robot leg construction has been constructed that implements a four-bar linkage and control by designed actuators.

• Keywords: upravljnje po momentu; beskolektorski motori; ODrive; izravan i kvazi izravan pogon; planarni četverokutni zglobni spoj; jednonožni robot
• Keywords (english): torque control; brushless motor; ODrive; direct and quasi direct drive; four-bar linkage; one legged robot
• Language: croatian
• URN:NBN: urn:nbn:hr:168:255072
• 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 12:10:44