Prototip izvršnog člana mekanog robota

undergraduate thesis

• Title (english): Soft robot actuator prototype
• Author: Nikola Banović
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Filip Marić (član povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-09-05, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Mekana robotika je grana robotike koja se bavi robotima izrađenima dijelom
ili većinski od vrlo deformabilnih materijala, sličnih onima u živim organizmima.
U ovom je radu potrebno izraditi prototip izvršnog člana mekanog robota, koji
se sastoji od pneumatski upravljivog silikonskog cilindra. Izrada prototipa je
podijeljena u dvije faze: simulacijsku i eksperimentalnu. U simulacijskoj je fazi
potrebno razviti prototip u programskom alatu Abaqus, u kojem se simulira i
testira ponašanje silikonskog cilindra na različite pritiske. U eksperimentalnoj je
fazi potrebno po mogućnosti izraditi silikonski izvršni član te usporediti realno
ponašanje sa simuliranim.

Abstract (english)

Soft robotics is a branch of robotics which deals with constructing robots
from highly compliant materials, similar to those found in living organisms. In
this thesis I design a prototype of a soft robotics actuator, which consists of
pneumatically controlled silicone cylinder. Design of the prototype is divided
into two parts: simulation phase and experimental phase. In the first phase I
designed a silicone cylinder in Abaqus software and tested the deformation of the
cylinder under different internal pressures. In the second, experimental phase I
attempted to manufacture the previously tested actuator and compare my results
with the simulation

• Keywords: mekana robotika; elastomer; izvršni član; hvataljka; prst; robot; guma
• Keywords (english): soft robotics; elastomer; actuator; manipulator; finger; robot; rubber
• Language: croatian
• URN:NBN: urn:nbn:hr:168:673015
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 16:32:30