Industrial robotics applications are always difficult to understand by non-specialized people. Recently, some curious applications that are not in the industrial world have been developed as robot bartenders or violinist robots. However, these applications are still not many in number due to both high costs and dependency on technical knowledge. Users are often forced to choose between low prices and performance. One of the general aims of this study is to fulfill this sectoral incapacity. The criteria commonly considered when thinking about the performance of the robots are torque capacity, accuracy and, precision. Gearboxes are commonly used in robotics to get the robot's required torque capacity. Because of its nature of the mechanism, harmonic drives can achieve very large reduction ratios with considerable accuracy and efficiency. Furthermore, the robot should be easily programmable and even a person who is not an expert in this field should be able to provide it. Hence, a harmonic drive has been developed which has a reduction ratio of 1/35. It is manufactured by using a 3D printer to meet the low-cost requirements. A timing belt is used as a flexible spline. The harmonic driver created using a 3D printer thoroughly covered the criteria of modularity, low cost, accuracy, and precision. The harmonic drive is later programmed, and it is effectively controlled. The Robotic Operating System (ROS) is used to meet easy programming criteria. The ROS data is transferred to the Arduino MEGA 2560 and the movement is provided by a stepper motor.
Le applicazioni di robotica industriale sono sempre difficili da capire da persone non specializzate. Di recente, alcune curiose applicazioni che non si trovano nel mondo industriale sono state sviluppate come baristi robot o robot violinisti. Tuttavia, queste applicazioni non sono ancora molte in numero a causa dei costi elevati e della dipendenza dalle conoscenze tecniche. Gli utenti sono spesso costretti a scegliere tra prezzi bassi e prestazioni. Uno degli obiettivi generali di questo studio è di soddisfare questa incapacità settoriale. I criteri comunemente considerati quando si pensa alle prestazioni dei robot sono la capacità di coppia, l'accuratezza e la precisione. I riduttori sono comunemente usati in robotica per ottenere la coppia richiesta dal robot. Data la loro natura , le trasmissioni armoniche possono raggiungere rapporti di riduzione molto grandi con notevole precisione ed efficienza. Inoltre, il robot dovrebbe essere facilmente programmabile e anche una persona che non è un esperto in questo campo dovrebbe essere in grado di utilizzarlo. Pertanto, è stato sviluppato un harmonic drive che ha un rapporto di riduzione di 1/35. È prodotto utilizzando una stampante 3D per soddisfare i requisiti di una soluzione a basso costo. Una cinghia di distribuzione viene utilizzata come flex spline. Il riduttore creato, utilizzando una stampante 3D, ha soddisfatto a fondo i criteri di modularità, basso costo, accuratezza e precisione richiesti. il modulo é stato successivamente programmato e controllato efficacemente. ROS, robotic operating system, viene utilizzato per semplificare la programmazione. I dati ROS vengono trasferiti ad un Arduino MEGA 2560 che azionano un motore passo-passo.
Design of a 3D-printed harmonic drive for low-cost modular robots
ASKIN, ILGAZ
2018/2019
Abstract
Industrial robotics applications are always difficult to understand by non-specialized people. Recently, some curious applications that are not in the industrial world have been developed as robot bartenders or violinist robots. However, these applications are still not many in number due to both high costs and dependency on technical knowledge. Users are often forced to choose between low prices and performance. One of the general aims of this study is to fulfill this sectoral incapacity. The criteria commonly considered when thinking about the performance of the robots are torque capacity, accuracy and, precision. Gearboxes are commonly used in robotics to get the robot's required torque capacity. Because of its nature of the mechanism, harmonic drives can achieve very large reduction ratios with considerable accuracy and efficiency. Furthermore, the robot should be easily programmable and even a person who is not an expert in this field should be able to provide it. Hence, a harmonic drive has been developed which has a reduction ratio of 1/35. It is manufactured by using a 3D printer to meet the low-cost requirements. A timing belt is used as a flexible spline. The harmonic driver created using a 3D printer thoroughly covered the criteria of modularity, low cost, accuracy, and precision. The harmonic drive is later programmed, and it is effectively controlled. The Robotic Operating System (ROS) is used to meet easy programming criteria. The ROS data is transferred to the Arduino MEGA 2560 and the movement is provided by a stepper motor.| File | Dimensione | Formato | |
|---|---|---|---|
|
MSc Thesis - Ilgaz Askin.pdf
accessibile in internet solo dagli utenti autorizzati
Descrizione: Thesis
Dimensione
37.28 MB
Formato
Adobe PDF
|
37.28 MB | Adobe PDF | Visualizza/Apri |
I documenti in POLITesi sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/10589/152980