20.500.12556/DKUM-94950 Rotacijski manipulator za delovne stroje: zamenjava hidravličnega gonila s servo-elektromotornim pogonom diplomsko delo Rotary actuator for work machines: replacement of hydraulic drive with a servo-electric motor drive V diplomski nalogi smo analizirali obstoječi hidravlični pogon rotacijskega manipulatorja, pri katerem hidromotor MR 50 prek polžastega gonila ustvarja navor okrog 2300 Nm in izhodno hitrost 10 in 15 obr/min. Ugotovili smo, da sistem dosega želeno zmogljivost, vendar so energijski izkoristki nizki, vzdrževanje drago, natančno pozicioniranje pa oteženo zaradi mehanskih zračnosti in odsotnosti povratne informacije. Z namenom izboljšave smo zasnovali digitalni dvojček sistema v okolju SolidWorks Motion Analysis in izvedli simulacijo togih teles, s katero smo potrdili izračunane navore ter ocenili mehanske izgube. Na podlagi simulacij smo določili zahtevane parametre za zamenjavo pogona in izbrali elektromotorno rešitev z motorji Parker GVM ter pripadajočimi krmilniki serije MCF. Predlagana rešitev ohranja izhodni navor ≥ 2300 Nm, izboljša energijsko učinkovitost in omogoča natančno elektronsko vodenje hitrosti in položaja. V zaključku podajamo priporočila za izdelavo prototipa, eksperimentalno validacijo in nadaljnje optimizacije sistema. This thesis analyses the existing hydraulic drive of a rotary actuator, where an MR 50 hydraulic motor coupled with a worm gear develops approximately 2300 Nm torque and an output speed of 10 to 15 rpm. While this configuration meets the mechanical requirements, it suffers from low energy efficiency, high maintenance costs and limited positioning accuracy due to mechanical backlash and the absence of feedback. To improve the system, a digital twin of the manipulator was created in SolidWorks Motion Analysis and a rigid-body simulation was performed, confirming the calculated torque values and assessing mechanical losses. Based on the simulation results, the required parameters for a replacement drive were determined and an electro-motor solution using Parker GVM motors with MCF controllers was proposed. The proposed system maintains an output torque ≥ 2300 Nm, improves energy efficiency and enables precise electronic control of speed and position. The conclusion offers recommendations for prototype construction, experimental validation and further system optimisation rotacijski manipulator zamenjava hidravlike trifazni sinhronski motor s trajnimi magneti izkoristek pogona digitalni dvojček rotary actuator hydraulic replacement three phase permanent magnet synchronous motor drive efficiency digital twin true true false [S. Čakš] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2025-08-29 18:21:30 2025-10-02 12:52:59 2025-10-23 03:14:12 0000-00-00 00:00:00 2025 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (IX, 37 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 62-236.58-837(043.2) 254186499 VS_Caks_Srecko_2025.pdf VS_Caks_Srecko_2025.pdf 1 B56D1EF46B72C7384113A6138DC795CA 5f5152e920f8f427c85b4e1a00608c4fe5d1b1f37a37a9647e31de18df84317f 46d3d009-9546-11f0-8746-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=198836 Fakulteta za strojništvo 0 0 0