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Modellering och reglering av tvåarmad golfrobot
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2010 (Swedish)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Modeling and control of parallel arm golfing robot (English)
Abstract [sv]

SammanfattningDetta examensarbete har utförts delvis på University of Florida i Gainesville, USA, och delvis på KTH i Stockholm, Sverige. Syftet med arbetet har varit att undersöka hur en pneumatiskt driven golfswings robot kan modelleras och automatiseras för att kunna konkurrera med existerande golfswings robotar som t.ex. Iron Byron. Fördelen med prototypen som byggts av studenter på University of Florida är att den har två armar vilket enligt Hunt och Wiens (2003) ger en mer realistisk och noggrann avbildning av en människas golfswing.I denna rapport beskrivs modellering, simulering och reglering av den pneumatiskt drivna golfswings robot som utvecklats på University of Florida. En kinematisk och en dynamisk modell har härletts enligt trigonometriska funktioner, respektive en metod av Kane och Levinson (1983) för härledning av dynamiska modeller. En detaljerad, rörlig 3D modell av roboten har gjorts i CAD programmet SolidEdge. Under arbetets gång har även olika lösningar för automatisering av roboten undersökts. En lösning vore att implementera elektroniska solenoidventiler samt rotationssensorer, för att via en dator kunna styra luftflödet till de olika givarna och läsa in sensorernas utslag. Denna lösning har i teorin implementerats genom skapandet av en simuleringsmodell i Matlabs Simulink, där även en PID regulator implementerats.Slutsatsen av detta examensarbete är att University of Florida roboten skulle kunna byggas ut med elektroniska solenoidventiler och rotationssensorer för att på ett smidigare sätt kunna köra roboten samt utföra flera iterationer automatiskt. Först då skulle roboten kunna konkurrera med existerande golfswings robotar som t.ex. Iron Byron. För bästa resultat borde även en PID regulator implementeras.

Abstract [en]

AbstractThis master’s thesis has been partly conducted at University of Florida in Gainesville, USA, and partly at The Royal Institute of Technology in Stockholm, Sweden. The objective of this project has been to examine how a pneumatically driven golf swing robot could be modeled and automated, so that it could compete with existing golf swing robots such as the Iron Byron. The advantage of the prototype, which was built by students at University of Florida, is that it’s a parallel arm robot, which according to Hunt and Wiens (2003), gives a much more realistic and accurate reflection of a human’s golf swing.This report defines modeling, simulation and control of the pneumatically driven golf swing robot, developed at University of Florida. A kinematic and a dynamic model have been derived according to trigonometric functions and a method by Kane and Levinson (1983) for deriving the dynamics, respectively. A detailed, mobile 3D model of the robot has been drawn in the CAD software SolidEdge. During the project different solutions for automating the robot has been investigated as well. One solution would be to implement electronic solenoid valves and rotary encoders, so that with the help of a computer be able to both regulate the air flow and read the actual encoder values. This solution has been implemented in theory through creation of a simulation model in Matlab’s Simulink, where a PID controller has been implemented as well.The conclusion of this master’s thesis is that the University of Florida robot could be implemented with electronic solenoid valves and rotary encoders so that it could more easily be run and several iterations could be conducted automatically. Once the robot is automated it could compete with existing golf swing robots such as the Iron Byron. For best results a PID controller should be implemented as well.

Place, publisher, year, edition, pages
2010. , 52 p.
Series
MMK 2010:02 MDA 375
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-41529OAI: oai:DiVA.org:kth-41529DiVA: diva2:444441
Uppsok
Technology
Supervisors
Examiners
Available from: 2011-11-28 Created: 2011-09-29 Last updated: 2011-11-28Bibliographically approved

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