r o b o t i k a - fsb.unizg.hr · pdf fileosovine (vratila) prihvatnica. fsb
TRANSCRIPT
![Page 1: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/1.jpg)
FSB
1
R O B O T I K AMehanički sustav robota
Općenito
![Page 2: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/2.jpg)
FSB
2Elementi
Elementi mehaničkog sustava
Segmenti (engl. links)
Uležištenja
Prijenosnici gibanja i momenata
Kompenzatori gravitacijskog djelovanja
Osovine (vratila)
Prihvatnica
![Page 3: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/3.jpg)
FSB
3Segmenti
Segmenti
okrugli, kvadratni, rešetkasti, ...
što lakši matrijali
osiguravaju čvrstoću i krutost konstrukcije
rastavljivi spojevi
modularna gradnja
![Page 4: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/4.jpg)
FSB
4Uležištenja
Uležištenja
klizni, kotrljajući
trenje (suho i viskozno) svesti na minimum
omogućuju rotaciju/translaciju SSG-a
![Page 5: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/5.jpg)
FSB
5Osovine
Osovine (vratila)
potrebni ih je uležištiti na dva mjesta
prenose gibanja i sile (momente)
![Page 6: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/6.jpg)
FSB
6Prijenosnici
Prijenosnici gibanja i momenata
lančani
harmonički
zupčasti
![Page 7: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/7.jpg)
FSB
7Harmonic Drive 1
Harmonički prijenosnici gibanja i momenata
![Page 8: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/8.jpg)
FSB
8Harmonic Drive 2
Harmonički prijenosnici gibanja i momenata
![Page 9: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/9.jpg)
FSB
9Harmonic Drive 3
Harmonički prijenosnici gibanja i momenata
![Page 10: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/10.jpg)
FSB
10Kompenzatori 1
Kompenzatori gravitacijskog djelovanja
mehanički
![Page 11: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/11.jpg)
FSB
11Prihvatnice 1
Prihvatnice
imaju samo rotacijske SSG
rješavaju problem orijentacije i hvatanja
![Page 12: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/12.jpg)
FSB
12Prihvatnice 2
![Page 13: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/13.jpg)
FSB
13Prihvatnice 3
![Page 14: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/14.jpg)
FSB
14Prihvatnice 4
![Page 15: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/15.jpg)
FSB
15Prihvatnice 5
![Page 16: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/16.jpg)
FSB
16Prihvatnice 6
![Page 17: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/17.jpg)
FSB
17Prihvatnice 7
![Page 18: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/18.jpg)
FSB
18Prihvatnice 8
![Page 19: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/19.jpg)
FSB
19Prihvatnice 9
![Page 20: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/20.jpg)
FSB
20Prihvatnice 10
![Page 21: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/21.jpg)
FSB
21Prihvatnice 11
![Page 22: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/22.jpg)
FSB
22Ograničenja
Ograničenja mehaničkog sustava
maxqq
maxqq
maxTT
![Page 23: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/23.jpg)
FSB
23
Jm
MOTOR
qm, Tm
Kinematika
Kinematika upravljane koordinate
Nqq m /
Nqq m /
NTT m
Nqq m /
REDUKTOR
Nq, T
LINK
J0
![Page 24: R O B O T I K A - fsb.unizg.hr · PDF fileOsovine (vratila) Prihvatnica. FSB](https://reader035.vdocuments.site/reader035/viewer/2022062311/5a7a1e5d7f8b9ab80d8d8f8c/html5/thumbnails/24.jpg)
FSB
24Dinamika
Dinamika upravljane koordinate
maxqq
20 NJJ
NT
J
Tq
m
m
q, TJm
MOTOR REDUKTOR
N
LINK
J0
qm, Tm
mJ
JN
N
q 00