20.500.12556/DKUM-54762 Razvoj pogonske glave za krmiljenje laporoskopskih klešč za robotsko roko UR5 Development of drive unit for control of laparoscopic tool for robotic arm of UR5 Diplomska naloga je bila prilagoditev robotske roke UR5 za kirurške aplikacije. Za ta namen so bile uporabljene EndoWrist klešče, ki se uporabljajo pri laparoskopskih robotskih operacijah za manipulacijo s tkivom. Ker se EndoWrist klešče uporabljajo v da Vinci kirurškemu sistemu, je bilo potrebno narediti krmilje in ohišje za montažu laparoskopsih klešč na robotsko roko. Cilj je dokazati možnost prilagoditve robota UR5 kot kirurškega, seveda pa pričakovana natančnost UR5 robota in da Vinci sistema nista enaka. Ohišje je bilo modelirano v programskem okolju SolidWorks in natisnjeno s 3D tiskalnikom. Za elektronske komponente ki so omogočile napajanje servomotorjev in mikrokrmilnika, je vezje bilo narejeno v Altium Designer. Program za mikrokrmilnik je bil napisan v Code Composer Studio. Rezultat je uspešno krmiljenje laparoskopskih klešč preko robota UR5. The thesis was to adapt the robotic arm UR5 for surgical applications. For this purpose the EndoWrist forceps that are used for robot controlled laparoscopic surgery for tissue manipulation were used. Because EndoWrist forceps are used in the da Vinci surgical system, the control for servo motors and the housing for mounting laparoscopic forceps on a robotic arm was necessary. The objective is to demonstrate the possibility of adjusting the robot UR5 as surgical. Of course, the expected accuracy of the UR5 robot and the da Vinci system are not the same. Housing was modelled in software SolidWorks, and printed with a 3D printer. For electronic components which have enabled the power supply for servo motors and microcontroller, the circuit was made in Altium Designer. The code for microcontroller was written in Code Composer Studio. The result is a successful control of a laparoscopic forceps via the UR5 robot. Da Vinci sistem laparoskopija EndoWrist mikrokrmilnik PWM servomotor 3D tiskalnik ABS plastika napetostni regulator tiskano vezje SolidWorks Altium Designer Code Composer Studio Da Vinci system laparoscopy EndoWrist microcontroller PWM servo motor 3D printer ABS plastic voltage regulator printed circuit board SolidWorks Altium Designer Code Composer Studio true true false [L. Mesarić] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2015-09-11 08:47:18 2015-10-27 15:33:49 2022-06-06 03:06:56 2021-05-12 03:32:38 2015 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:616-089(043.2) 19364374 URN:SI:UM:DK:B91ORGW6 UN_Mesaric_Luka_2015.pdf UN_Mesaric_Luka_2015.pdf 1 6DC0001A6247CD271414075416E15E57 5ec0aac8caca614627046e8ac8feedc3fe4b3895beb8eaa6d1c9c2566877c6c5 b7ac6cca-7c07-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=81176 Fakulteta za strojništvo 0 0 0