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Povišenje energetske efikasnosti programabilnog pneumatskog manipulatora u kontaktnim zadacima

Increasing energy efficiency of programmable pneumatic manipulator in contact tasks

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2016
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Author
Šulc, Jovan
Mentor
Šešlija, Dragan
Committee members
Borovac, Branislav
Dudić, Slobodan
Miladinović, Ljubomir
Kovačević, Ilija
Gostimirović, Marin
Šešlija, Dragan
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Abstract
Dat je pregled mogućnosti za povišenje energetske efikasnosti pneumatskog programabilnog manipulatora primenjenog u kontaktnim zadacima. Projektovano je i realizovano ispitno postrojenje. Posebno je ukazano na mogućnosti projektovanja različitih upravljačkih sistema. Razvijeni su primeri PWM i proporcionalnog upravljanja. Ispitana su predložena rešenja iz različitih aspekata energetske efikasnosti i kvaliteta praćenja trajektorije pri korišćenju različitih vrsta materijala i alata. Izvučeni su potrebni zaključci.
This paper contains an overview of possibilities for increasing the energy efficiency of programmable pneumatic manipulator in contact tasks. Experimental station is designed and realized as a testbed. Especially, point is on possibilities of designing of new control systems. Examples of PWM and proportional control are developed. Proposed solutions are examined from aspects of energy efficiency and quality of trajectory tracking, by using various types of materials and tools. Necessary conclusions are drawn.
Faculty:
Универзитет у Новом Саду, Факултет техничких наука
Date:
23-09-2016
Keywords:
Širinska modulacija impulsa / PWM / proporcionalno upravljanje / energetska efikasnost / pneumatski manipulator / PLK / proportional control / energy efficiency / pneumatic manipulator / PLC
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Handle
https://hdl.handle.net/21.15107/rcub_nardus_6622
URI
https://nardus.mpn.gov.rs/handle/123456789/6622
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