20.500.12556/DKUM-42081 BILATERALNO TELEOPERIRANJE LABORATORIJSKEGA PARALELNEGA ROBOTSKEGA MEHANIZMA Z LINEARNIMI MOTORJI BILATERAL TELEOPERATION OF A LABORATORY PARALLEL ROBOT MECHANISM WITH LINEAR MOTORS Magistrsko delo obravnava bilateralno teleoperiranje dvoosnega paralelnega robotskega mehanizma LINPARMAN. Ta sistem vključuje linearne motorje, s katerimi uvajamo nekatere pomembne prednosti v robotskih mehanizmih: direktni pogon brez reduktorjev, kar prinaša manjše trenje, izgubo zračnosti in potrebe po pretvarjanju rotacijskega gibanja v linearno itd. V magistrskem delu je opisano tudi načrtovanje paralelnega robotskega mehanizma z linearnimi motorji. Snovanje je potekalo s programsko opremo za CAD. Izdelan mehanizem je uporabljen v sistemu za bilateralno teleoperiranje, pri čemer smo uporabili PP in FP arhitekturi. Regulacijski sistem je bil izveden na programirljivem FPGA vezju. Njegova glavna prednost je zmožnost hitrega paralelnega procesiranja, ki posledično omogoča izvedbo visokozmogljivih robotskih sistemov. Sistem smo eksperimentalno validirali. Eksperimentalni rezultati vključujejo primere bilateralnega vodenja s PP in FP arhitekturo v prostem gibanju, dotiku z mehko in trdo oviro. This master's thesis examines bilateral teleoperation of LINPARMAN, a parallel biaxial robotic mechanism. The system includes linear motors used to implement some important features of robotic mechanisms - direct drive with no reduction gear, which reduces friction, eliminates backlash, and avoids conversion from rotational movement into linear etc. The master’s thesis also describes the process of planning of the parallel robotic mechanism using linear motors. The mechanism was designed using CAD software. We used the constructed mechanism in the system for bilateral teleoperation on both PP and FP architectures. The control system was designed on a programmable FPGA circuit board. Its main advantage is fast parallel processing which enables the design of high-performance robotic systems. The system was experimentally validated. Experimental results include cases of bilateral control on PP and FP architecture during free movement, and during contact with a soft and hard obstacle. linearni motor konstruiranje paralelni manipulator LINPARMAN bilateralno teleoperiranje CAD FPGA SolidWorks LabVIEW linear motor construction parallel manipulator LIMPARMAN bilateral teleoperation CAD FPGA SolidWorks LabVIEW true true false [B. Lorbek] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2013-09-11 11:25:19 2013-11-26 09:54:35 2022-05-06 03:07:27 2021-04-25 03:31:15 2013 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.391:681.5(043.2) 17347606 URN:SI:UM:DK:8UDM1Q6W MAG_Lorbek_Bostjan_2013.pdf MAG_Lorbek_Bostjan_2013.pdf 1 6575A7514C93AB9AE603B6EA7B492037 3be058324eeb56094fba5b80a5a62c908eea36da39689372e1986c141b74dc37 4e403658-7c0a-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=58563 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0