Design of printed circuit boards for robotic applications

V diplomski nalogi je predstavljen potek načrtovanja tiskanih vezij za aplikacije v mobilni robotiki. Opisan je postopek izdelave tiskanih vezij in značilnosti najpogosteje uporabljenih komponent v robotiki. Sledi prikaz načrtovanja dveh mobilnih robotov v programskem paketu KiCad. Prvi je napajan s superkondenzatorji, značilnost drugega pa je uporaba najmodernejšega mikrokrmilnika, ki mu omogoča avtonomno delovanje. Opisane so izbrane elektronske komponente in povezave med njimi, ki jih razdelimo v štiri sklope: krmiljenje, napajanje, senzoriranje in aktuacija. Tiskane plošče so izdelane, opravljen je preizkus njihovega delovanja in prikazan postopek umerjanja senzorjev. Za mobilnega robota, ki za napajanje uporablja superkondenzatorje, je s 3D tiskanjem izdelana školjka, njegovo delovanje pa je demonstrirano na primeru sledenja črti.The thesis presents the printed circuit board (PCB) design process for applications in mobile robotics. The process of manufacturing PCBs and the characteristics of the most commonly used components in robotics are described. The design process is demonstrated in two case studies of PCB design for mobile robots, both performed using KiCad software. The first robot is powered by supercapacitors, while the second is characterized by the use of a state-of-the-art microcontroller that allows it to operate autonomously. Selected electronic components and connections between them are described and divided into four functional groups: control, power supply, sensing, and actuation. The printed circuit boards have been manufactured. The testing process and the process of calibrating the sensors are demonstrated. For a mobile robot that uses supercapacitors, a shell is designed and manufactured with 3D printing. The operation of the robot is shown in a case of line following