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Omnidirectional robot – construction design
Kubíček, Michal ; Abbadi, Ahmad (referee) ; Matoušek, Radomil (advisor)
This bachelor thesis deals with the 3D design chassis holonomic omnidirectional robot. The aim of the work is to design two omnidirectional mobile robots. The first one is the three-wheel omnidirectional robot with spring-loaded platform. The second one is the special balancing robot, where the motion wheel is the ball and the robot ride over them. The platform was designed for using with Maxon MCD EPOS motors. The simplest structure of mobile robot was chosen due to simplification of manufacture process. The robot platform design was realized by means of SolidWorks software.
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Design of construction and control algorithm for unstable robot with spherical base
Špila, Filip ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This bachelor's thesis deals with the complete design, manufacture, and control of an unstable robot, balancing on a spherical base, also known as ballbot. The complete design of the construction, motor unit selection, design, implementation testing of an intelligent control algorithm to keep the robot in a meta-stable equilibrium is assumed. Multiple tools such as Matlab/Simulink are used for this approach. It also includes the final implementation of the code in the PIC microcontroller. The project has an interdisciplinary character and is meant to be done as teamwork whereby each team member has a strictly defined role.
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Design and implementation of encoder unit
Kirchner, Tomáš ; Sova, Václav (referee) ; Spáčil, Tomáš (advisor)
The aim of the thesis is to implement an absolute magnetic encoder unit as a sensor measuring the angle of rotation of a DC engine on a ballbot, which is part of the BB-8 project at the mechatronic laboratory. It describes the principals and limitations of a magnetic encoder technology, also the design of printed circuit board for the sensor and the engine housing. Testing functionality of the encoder at Raspberry Pi was part of the work as well as creating SPI communication with a master microcontroller PIC. Furthermore an accuracy of the angle of rotation sensing was measured for different inaccuracy of a magnet position to the sensor.
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Redesign of the construction and control algorithm for an unstable robot with a spherical base
Novák, Vlastimil ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This bachelor thesis deals with the redesign of an unstable robot with spherical base, also known as Ballbot. The aim of the work is to analyze the existing structural elements of the robot, available sensors, control and power electronics and identify functional deficiencies. Subsequently, design a solution and implement it in order to eliminate all found deficiencies. Part of the work is testing a revised version of the robot, which, among other things, consists of checking the functionality of individual sensors and checking the comunication between sensors and microcontroller. Emphasis is placed on determining the real accuracy of newly used sensors depending on the settings used and ambient conditions.
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Redesign of the construction and control algorithm for an unstable robot with a spherical base
Novák, Vlastimil ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This bachelor thesis deals with the redesign of an unstable robot with spherical base, also known as Ballbot. The aim of the work is to analyze the existing structural elements of the robot, available sensors, control and power electronics and identify functional deficiencies. Subsequently, design a solution and implement it in order to eliminate all found deficiencies. Part of the work is testing a revised version of the robot, which, among other things, consists of checking the functionality of individual sensors and checking the comunication between sensors and microcontroller. Emphasis is placed on determining the real accuracy of newly used sensors depending on the settings used and ambient conditions.
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|
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Design and implementation of encoder unit
Kirchner, Tomáš ; Sova, Václav (referee) ; Spáčil, Tomáš (advisor)
The aim of the thesis is to implement an absolute magnetic encoder unit as a sensor measuring the angle of rotation of a DC engine on a ballbot, which is part of the BB-8 project at the mechatronic laboratory. It describes the principals and limitations of a magnetic encoder technology, also the design of printed circuit board for the sensor and the engine housing. Testing functionality of the encoder at Raspberry Pi was part of the work as well as creating SPI communication with a master microcontroller PIC. Furthermore an accuracy of the angle of rotation sensing was measured for different inaccuracy of a magnet position to the sensor.
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|
|
Design of construction and control algorithm for unstable robot with spherical base
Špila, Filip ; Najman, Jan (referee) ; Spáčil, Tomáš (advisor)
This bachelor's thesis deals with the complete design, manufacture, and control of an unstable robot, balancing on a spherical base, also known as ballbot. The complete design of the construction, motor unit selection, design, implementation testing of an intelligent control algorithm to keep the robot in a meta-stable equilibrium is assumed. Multiple tools such as Matlab/Simulink are used for this approach. It also includes the final implementation of the code in the PIC microcontroller. The project has an interdisciplinary character and is meant to be done as teamwork whereby each team member has a strictly defined role.
|
|
|
Omnidirectional robot – construction design
Kubíček, Michal ; Abbadi, Ahmad (referee) ; Matoušek, Radomil (advisor)
This bachelor thesis deals with the 3D design chassis holonomic omnidirectional robot. The aim of the work is to design two omnidirectional mobile robots. The first one is the three-wheel omnidirectional robot with spring-loaded platform. The second one is the special balancing robot, where the motion wheel is the ball and the robot ride over them. The platform was designed for using with Maxon MCD EPOS motors. The simplest structure of mobile robot was chosen due to simplification of manufacture process. The robot platform design was realized by means of SolidWorks software.
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