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Title:
ROBOTSKO SESALNO PRIJEMALO Z LINEARNIM POGONOM IN MIKROKRMILNIKOM MSP430
Authors:
ID
Trobentar, Uroš
(
Author
)
ID
Hace, Aleš
(
Mentor
)
More about this mentor...
ID
Gotlih, Karl
(
Mentor
)
More about this mentor...
Files:
UNI_Trobentar_Uros_2012.pdf
(6,41 MB)
MD5: 29C2536AB4D08CC3F7BE8270517F3207
PID:
20.500.12556/dkum/3c749b85-6e67-4aec-93e2-98f962a0b3e6
Language:
Slovenian
Work type:
Undergraduate thesis
Typology:
2.11 - Undergraduate Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
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.
Keywords:
Robot PARMAN
,
sesalno prijemalo
,
linearni pogon
,
mikrokrmilnik MSP430
Place of publishing:
Maribor
Publisher:
[U. Trobentar]
Year of publishing:
2012
PID:
20.500.12556/DKUM-39232
UDC:
681.51:007.52(043.2)
COBISS.SI-ID:
16644886
NUK URN:
URN:SI:UM:DK:7XT3R91L
Publication date in DKUM:
21.12.2012
Views:
2114
Downloads:
298
Metadata:
Categories:
KTFMB - FERI
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Secondary language
Language:
English
Title:
ROBOTIC VACUUM GRIPPER WITH LINEAR ACTUATOR AND MSP430
Abstract:
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.
Keywords:
Robot PARMAN
,
vacuum gripper
,
linear actuator
,
MSP430 micro-controller
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