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Elektrisk konstruktion, styrning och programmering av en servicerobot
University West, Department of Engineering Science, Division of Computer, Electrical and Surveying Engineering.
University West, Department of Engineering Science, Division of Computer, Electrical and Surveying Engineering.
2016 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Electrical construction, control and programming of a service robot (English)
Abstract [sv]

Inom industrin finns robotar som löser avancerade algoritmer, har en hög flexibilitet, klarar tunga laster och samtidigt kan jobba med hög precision och noggrannhet. Den privata sektorn är ett annat segment där automatisering kan nyttjas, men i en mindre och annorlunda form. I denna rapport beskrivs framtagningen av en servicerobot, gjord för hemanvändare och andra segment med krav på låg kostnad och hög flexibilitet. Genom en utarbetad demonstrator som tillfredsställer uppsatta mål och prestandakrav, förväntas enklare hushållsarbeten kunna automatiseras.

Rapporten visar framtagning och utvärdering av olika konstruktionslösningar för att nå uppsatta mål. Lämpliga komponenter som uppfyller de mekaniska och elektriska kraven har valts ut och presenteras.

Framtagen demonstrator fungerar som en flexibel plattform för en mindre robotarm, med syftet att utöka armens räckvidd vertikalt och horisontellt. Styrkretsar och tillhörande drivsystem förflyttar robotplattformen till given position. En mikrokortsdator finns placerad på plattformen och denna styr vald robotarm genom lämplig rörelse eller mönster. Ett funktionstest som visar när serviceroboten utför ett enklare hushållsarbete har genomförts.

Abstract [en]

Modern industrial robots may solve advanced algorithms, work with a high flexibility, handle heavy load and simultaneously work with high precision and accuracy. The private sector is another segment where automation can be used, but in a smaller and different form. The following report describes the development of a service robot designed for home users and other segments with the requirement of low cost and high flexibility. Through an elaborated demonstrator model that meets the goals and performance requirements, expected simple household chores can be automated.

The report shows the development and evaluation of various design solutions to achieve the set goals. Suitable components which meet the mechanical and electrical requirements have been selected and presented. The demonstrator model works as a flexible platform for a small robotic arm, with the aim to expand the reach of the arm vertically and horizontally. Control circuits and connected drive system moves the robot platform to the given position. A single board computer is placed on the platform and is controlling the selected robotic arm through appropriate motion or pattern. A functional test was performed to show when service robot performs a simple housework.

Place, publisher, year, edition, pages
2016. , 40 p.
Keyword [sv]
Robotar, automatisering
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hv:diva-9525Local ID: EXM505OAI: oai:DiVA.org:hv-9525DiVA: diva2:947306
Subject / course
Electrotechnology
Educational program
Elkraft
Supervisors
Examiners
Available from: 2016-07-10 Created: 2016-07-07 Last updated: 2016-07-10Bibliographically approved

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