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Go & Grab: Flexibel robotarm med ballistiskt gripdon
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2018 (Swedish)Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesisAlternative title
Go & Grab : Flexible robot arm with ballistic gripper (English)
Abstract [sv]

Detta projekt agerar som ett test av en prototyp av en robot med en ny utformning, med fokus på accessoarer till denna robot. Denna robot mobila robot är en differentialstyrd robot med en vagn, fast släpet är framtill på roboten. Detta projekt innehåller konstruktion, implementation och test av två gripdon som monteras på vagnen. En lift konstrueras och monteras på vagnen som gripdonen i sin tur monteras på för att kunna vara flexibel i vilka höjder den kan gripa objekt på. Utöver liften och gripdonen så görs även vagnen som detta monteras på tillsammans med leden som håller ihop vagnen och roboten.

Detta projekt genomfördes med en divide and conquer metodik som delar upp ett problem i mindre projekt och angriper dem ett i taget i en ordning för vilket som prioriterades högst. Leden var den första delen att tillverkas, följt av två gripdon och sist liften. Efter att dessa delar var tillverkade och monterade så testades roboten ihop med vagnen att köras och den fick utföra en del olika tester. Därefter utvärderades resultaten.

Testresultaten var positiva och lovande. Leden och liften går till viss del att förbättra men det fungerade alldeles perfekt för denna implementation av roboten. Gripdonen funkar fast med vissa svårigheter, de behöver lite förbättringar på roboten som gör att den har lite mer precision och hastighet. Resultaten för gripdonen är varierande beroende på vad gripobjektet var.

Abstract [en]

This project serves as an evaluation for a robot prototype with a new kind of configuration, with focus on the accessories to the robot. The mobile robot is differential driven and with a trailer attached to its mid joint on the front of the robot. The project will involve construction, implementation and tests of two grippers which will be mounted on the trailer. A lift will be constructed and mounted to the carriage, and in turn the grippers will be mounted on the lift which makes the robot more flexible in what it can achieve. Beyond the lift and grippers, the wagon as well as the joint keeping the robot and the wagon together.

The project was executed with a divide and conquer methodology, which divides a bigger problem into smaller ones, solves them and moves on the next level. This is done in and order of priority with the problem with the highest priority first. The joint had the highest priority and was the first problem to be solved, followed by the grippers and lastly the lift. After everything were constructed and assembled, the robot together with the wagon was put through different tests. And lastly the test results were compiled and evaluated.

The results from these tests are positive and promising. The joint and lift have a few different ways they can be improved, but they worked more than sufficiently for this implementation of the robot. The grippers work but have a few difficulties and needs some improvements, the reason for the difficulties is the robot which need a few improvements with increased speed and precision. The result of the grippers varies depending on the targeted objective to be grabbed.

Place, publisher, year, edition, pages
2018. , p. 30
Series
MA ; 1819
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-151927OAI: oai:DiVA.org:umu-151927DiVA, id: diva2:1249102
External cooperation
Åke Wernersson, professor emeritus i robotik
Subject / course
Maskinteknik
Educational program
Bachelor of Science Engineering in Mechanical Engineering
Presentation
2018-06-01, 10:30 (Swedish)
Supervisors
Examiners
Available from: 2018-09-19 Created: 2018-09-18 Last updated: 2018-09-19Bibliographically approved

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CiteExportLink to record
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