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Haptik/Robotik: utveckling av en haptisk enhet
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2008 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Haptic/Robotic : development of a haptic device (English)
Abstract [en]

The objective of this project was to find and analyse the working-area, mobility, and required torque for the actuator of two different haptic robot models. The models were built in the computer program Adams. Adams was used to do all the tests and analysis. To describe the working-area a varying force were imposed that dragged the robots TCP (Tool Centre Point). This showed that Tau model 2 had a somewhat longer reach than model 1 but that model 1 had a larger working-area in the vertical level. To investigate the mobility of the robots, a cube formed space in the working-area was defined where the robots should have maximum mobility. The TCP were positioned in each of the eight corners of the cube and forced to rotate in all three axis until stopped by a lockup. The conclusion was that the TCP were able to rotate more when positioned further away from the middle. The third analysis performed studied the torques needed in the actuator to keep the TCP from moving when exposed to different kinds of forces and torques. The results states that the motors needs more power when working close to the base.

Abstract [sv]

Projektet går ut på att ta fram och analysera arbetsområde, rörlighet och moment i styrande leder för två olika haptiska robotmodeller. Modellerna byggdes upp i datorprogrammet Adams för att kunna göra nödvändiga analyser. För att beskriva arbetsområdet ansattes en varierande kraft som drog i robotens TCP (Tool Centre Point). Det visade sig att Tau modell 2 hade något längre räckvidd, men att Tau modell 1 hade större arbetsområde i vertikalled. För att undersöka rörligheten hos robotarna togs det först fram en kubformad avgränsning i arbetsområdet där roboten bör ha bäst rörlighet. Sedan placerades robotens armar i vart och ett av kubens hörn och tvingades rotera kring samtliga tre axlar tills en låsning uppkom. Här visade det sig att båda robotarna hade större möjlighet att rotera TCP när armarna var långt utifrån roboten än när den höll armarna nära. Den tredje analysen som gjordes var av de moment som uppkom i de styrande lederna när TCP påverkades av en kraft respektive ett vridande moment. Från denna analys drogs slutsatsen att båda robotarna belastas mycket mer när de jobbar nära inpå mittornet.

Place, publisher, year, edition, pages
2008.
Series
MMKB 2008:10 MKNB 023
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-171974OAI: oai:DiVA.org:kth-171974DiVA: diva2:845006
Available from: 2015-10-20 Created: 2015-08-10 Last updated: 2015-10-20Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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