20.500.12556/DKUM-39232 ROBOTSKO SESALNO PRIJEMALO Z LINEARNIM POGONOM IN MIKROKRMILNIKOM MSP430 ROBOTIC VACUUM GRIPPER WITH LINEAR ACTUATOR AND MSP430 V diplomski nalogi je opisana izgradnja robotskega sesalnega prijemala. Prijemalo je pritrjeno na linearni DC pogon in predstavlja tretjo os na obstoječem paralelnem manipulatorju PARMAN. Vprijem objekta je neodvisen od njegove orientacije in omogoča enostavno manipulacijo. Motor linearnega pogona je krmiljen s pomočjo mikrokrmilnika MSP430. Krmilnik prav tako krmili vklop/izklop pnevmatskega ventila za sesanje, komunikacijo s paralelnim robotom ter meritev toka in hitrosti. Z meritvijo toka motorja spremljamo silo, s katero prijemalo naseda na objekt in ob želeni sili vklopimo sesanje. Za krmiljenje prijemala lahko uporabljamo PARMAN robotski krmilnik ali zgrajeno komandno ploščo. This thesis describes the construction of robotic vacuum gripper. Gripper is mounted on a linear DC drive and represents a third axis on the existing parallel manipulator PARMAN. Grab of the object is independent of its orientation and allows easy manipulation. Motor of linear actuator is controlled by a microcontroller MSP430. The microcontroller also controls the pneumatic valve for suction, communication with the parallel robot and measurements of current and velocity. By measuring the motor current we monitor force with which the gripper is seated to the object and activate suction at the desired force. Control of the gripper can be done by PARMAN robot controller or built control panel. Robot PARMAN sesalno prijemalo linearni pogon mikrokrmilnik MSP430 Robot PARMAN vacuum gripper linear actuator MSP430 micro-controller true true false [U. Trobentar] Slovenski jezik Angleški jezik Diplomsko delo 2012-12-12 20:15:35 2012-12-21 12:13:35 2022-05-04 14:14:05 2021-04-20 03:43:02 2012 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.51:007.52(043.2) 16644886 URN:SI:UM:DK:7XT3R91L UNI_Trobentar_Uros_2012.pdf UNI_Trobentar_Uros_2012.pdf 1 29C2536AB4D08CC3F7BE8270517F3207 119245876f5199493f8675b548093bf344132c713145c14373f501e8649544b3 16f88401-7c09-11eb-bb7a-00155d0001ca 20.500.12556/dkum/3c749b85-6e67-4aec-93e2-98f962a0b3e6 https://dk.um.si/Dokument.php?lang=slv&id=52889 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0