Robotexi reeglitele vastava pallihoidja väljatöötamine
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Kuupäev
2013
Kättesaadav alates
ainult raamatukogus, only in library
Autorid
Ajakirja pealkiri
Ajakirja ISSN
Köite pealkiri
Kirjastaja
Abstrakt
Käesoleva töö eesmärk, töötada välja Robotexi reeglitele vastav pallihoidja ning seda testida,
sai täidetud. Seade tehti valmis ning paigaldati robotile ja viidi läbi katsed ja häälestati
pallihoidjat reguleeritavate parameetrite muutmise teel. Pärast testimisi ja mõõtmisi sai öelda,
et robot koos välja töötatud pallihoidja vastab kõigile Robotexi reeglitele. Praktilist kinnitust
sai hüpotees, et väiksema diameetriga rulliga suureneb jõud, millega pall vastu robotit surub.
Selgus ka, et palli liiga kõvasti vastu alust surumine võib takistada roboti liikumist küljelt
küljele, mistõttu on soovitav rulli allasurumise jõud teha reguleeritava väärtusega. Kuna
alusvaibal võib olla ebatasasusi ning roboti kiirused ja pöörded võivad erineda, on soovitav
teha pallihoidjatel reguleeritavaks ka rulli minimaalne kõrgus, kus rull ja pall esimest korda
kokku puutuvad.
Käesoleva töö raames töötati välja pallihoidja kummirullide universaalne tootmistehnoloogia
ning vorm, mille abil erineva diameetriga kummirulle ümber metallist võllide valada. Vormi
abil toodeti edukalt Robotexi nõuetele vastavad kummirullid kuid nende tarvis oli vaja
kasutada sanitaarsilikoonidest mitmeid kordi kallemaid kahekomponentseid kumme.
Käesoleva töö raames töötati välja idee, kuidas odava sanitaarsilikooni ning tualettpaberi abil
kummirulle toota. Töö autor soovitab edasistes käsitlustes välja arendada ja töötade
tehnoloogia, mille abil saab ka ühekomponentsetest sanitaarsilikoonidest Robotexile sobivaid
kummirulle valmistada.
The aim of the present project is to design a ball handling mechanism according to the Robotex rules. The aim of the research was to experiment with the ball handling mechanism to find out which parameters are important for creating a better ball handling mechanisms in the future. Experiments with prototype proved that a rubber roll with a smaller diameter inflicts more force onpushing the ball against the robot housing. Furthermore, it was discovered that the force the rubber roll is pressed against the ball with inflicts more force with which the ball is pressed against the robot housing. Although the force pushing the rubber ball down against the ball is good, it can have a negative impact as well. The friction force between the ball and the floor depends on that force and can disturb the robot’s movement from side to side. Because of that it is recommended to make theforce pushing the rubber roll down the ball adjustable. In the prototype, the force pushing the roll downwards increased dramatically as the ball gained height. Integrating this function into the ball handling mechanism gives good results for adjusting the ball handling mechanism. In addition, a mold was made for producing rubber rolls around metal shafts, and a technology was worked out for doing it.
The aim of the present project is to design a ball handling mechanism according to the Robotex rules. The aim of the research was to experiment with the ball handling mechanism to find out which parameters are important for creating a better ball handling mechanisms in the future. Experiments with prototype proved that a rubber roll with a smaller diameter inflicts more force onpushing the ball against the robot housing. Furthermore, it was discovered that the force the rubber roll is pressed against the ball with inflicts more force with which the ball is pressed against the robot housing. Although the force pushing the rubber ball down against the ball is good, it can have a negative impact as well. The friction force between the ball and the floor depends on that force and can disturb the robot’s movement from side to side. Because of that it is recommended to make theforce pushing the rubber roll down the ball adjustable. In the prototype, the force pushing the roll downwards increased dramatically as the ball gained height. Integrating this function into the ball handling mechanism gives good results for adjusting the ball handling mechanism. In addition, a mold was made for producing rubber rolls around metal shafts, and a technology was worked out for doing it.
Kirjeldus
Märksõnad
Robotex, lõputööd