Tipuri de motoare folosite in realizarea robotilor mobili

Cuprins
|1.Introducere                                                   |  2  |
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|2.Adoptarea functionala a solutiei                              |32   |
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|    2.1 Tipuri de motoare folosite in realizarea robotilor      |32   |
|mobili .......                                                  |     |
|    2.2 Alegerea placii de dezvoltare,microprocesorului si a    |     |
|senzorilor                                                      |41   |
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|    2.3 Solutia constructiva a partilor mecanice –inclusiv      |     |
|proiectarea reperelor mecanice                                  |49   |
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|3.Descrierea si functionarea                                    |50   |
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|    3.1 Prezentarea generala a                                  |50   |
|robotului.........................................              |     |
|    3.2 Senzorii folositi in proiect                            |52   |
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|    3.3 Controlul directie de miscare                           |     |
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|4.Memoriu calcul                                                |57   |
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|    4.1 Elementele geometrice ale minirobotului                 |57   |
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|    4.2 Calculul cinetostatic                                   |60   |
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|    4.3 Incarcarea globala a minirobotului                      |61   |
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|        4.3.1 Determinarea fortei de tractiune la rola motoare  |     |
|in                                                              |     |
|functie de parametrii impusi ( unghi de inclinare               |61   |
|traseu,viteza de deplasare,acceleratie ) .......................|     |
|        4.3.2 Determinarea puterii necesare actionarii          |66   |
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|   4.4 Alegerea servomotorului                                  |66   |
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|   4.5 Calculul microreducorului                                |69   |
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|         4.5.1 Schema cinematica                                |69   |
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|         4.5.2 Calculul dimensional al treptelor din cadrul     |     |
|reductorului                                                    |70   |
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|         4.5.3 Calculul de detaliu al primei treapte de reducere|72   |
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|         4.5.4 Calculul de rezistenta al danturii               |77   |
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|         4.5.5 Calculul lagaruirii lagarului de iesire al       |80   |
|reductorului ....                                               |     |
|    4.6 Calculul rezemarii pe rola                              |84   |
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|    4.7 Programarea minirobotului                               |86   |
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|5.Memoriu grafic                                                |97   |
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