Design optimization of element of basis vehicle tool construction

Cilj ovog rada bio je analizirati robotsku ruku baznog vozila koje radi u rudnicima. Analiza ruke provela se u programu Ansys, koristeći metodu konačnih elemenata. Rezultati analize uspoređivali su se s izračunatim vrijednostima dopuštenih naprezanja i deformacije. Analiza se provela za tri različita materijala te su se usporedili rezultati naprezanja kod svih materijala. U drugom dijelu rada provedene su različite analize ruke te topološka optimizacija modela robotske ruke, pri čemu je cilj optimizacije bio smanjenje mase ruke. Prvo poglavlje je uvod u sam rad, gdje se opisuje s kojim su problemima današnjice suočeni inženjeri prilikom konstruiranja strojeva te se pobliže opisuje svrha i namjena ovog rada. Drugo poglavlje opisuje hrvatsku tvrtku DOK-ING koja je proizvođač robotske ruke koja je tema ovog rada. Dan je kratak pregled povijesti firme, navedeni su strojevi koji se u njoj proizvode te je ukratko opisana njihova namjena. Treće poglavlje uvodi u teoretski dio ovog rada, a radi se o metodi konačnih elemenata. Detaljnije se opisuje metoda proračuna i analize korištene u ovom radu. Slijedi četvrto poglavlje, također teoretsko, gdje je dan pregled teorija čvrstoće koje služe kako bi se mogli protumačiti i usporediti rezultati analize dobiveni u programu Ansys. Peto poglavlje bavi se materijalima. Od jednog opisanog materijala napravljena je robotska ruka, a druga dva opisana materijala su sličnih karakteristika te će se sva tri analizirati kako bi se usporedilo ponašanje različitih materijala na istom modelu pod istim opterećenjima. U šestom poglavlju detaljno je opisan model, na koji način se pojednostavio, kako se omrežio. Predstavljene su i ukratko opisane analize koje će se koristiti. Sedmo poglavlje donosi rezultate svih provedenih analiza robotske ruke. Uspoređuju se vrijednosti naprezanja i deformacije s dopuštenima, kao i korištenje različitih materijala. U tom je poglavlju opisana i provedena topološka optimizacija robotske ruke te je predložen novi izgled ruke te provjera hoće li naprezanja nove robotske ruke biti unutar granice dopuštenih ili ne. Osmo poglavlje donosi zaključke koji su donešeni tijekom analiziranja robotske ruke i njime se zaključuju tema i rezultati rada.The aim of this paper was to analyze the robotic arm of a base vehicle operating in mines. The analysis of the hand was performed in the Ansys software, using the finite element method. Analysis results were compared to the calculated values for the permissible stresses and strains. The analysis was performed for three different materials and stress results for all materials were compared. In the second paper part, various hand analyzes and topology optimization of the robotic arm model were performed, where the aim of the optimization was to reduce the mass of the arm. The first chapter is an introduction to the paper itself, that describes problems faced by engineers nowadays when they design machines, and it describes the purpose of this paper in more detail. The second chapter describes DOK-ING, a Croatian company which is the manufacturer of the robotic arm being the subject of this paper. A brief overview of the company's history is given, machines produced in the company are listed and their purpose is briefly described. The third chapter introduces the theoretical part of this paper and it is about the finite element method. The method of calculation and analysis used in this paper is described in more details. In the fourth chapter, also theoretical, an overview of the strength theories is given. Their purpose is to understand and interpret the results of the analysis obtained in Ansys Software. The fifth chapter deals with materials. A robotic arm was made of one of the described materials and the other two described materials have similar characteristics. All three materials will be analyzed to compare the behavior of different materials in the same model under the same loads. The sixth chapter describes the model in detail, how it has been simplified, how it has been meshed in Ansys. The analyzes which are later used are presented and briefly described. Chapter seven brings the results of all the robotic arm analyzes performed. Stress and strain values are compared to permissible ones, as well as the usage of different materials. In this chapter, the topology optimization is described and performed and a new model of robotic arm is proposed. Chapter eight brings the conclusions made during the analysis of the robotic arm and concludes the topic and results of the work