Određivanje kinematike mekih manipulatora

master's thesis

• Title (english): Kinematic modelling of soft manipulators
• Author: Nikola Banović
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Meki manipulatori svrstavaju se u kategoriju kontinuiranih robota koji zbog svoje fleksibilnosti mogu ostvariti složene trajektorije u neuređenim okruženjima. Često se koriste mekani manipulatori upravljani zatezanjem tetiva koje prolaze strukturom deformabilnog materijala (silikona) podijeljenog u nekoliko sekcija. Veliki je izazov odrediti direktnu i inverznu kinematiku ovakvog manipulatora. Jedan od pristupa koristi po dijelovima konstantnu zakrivljenost podsekcija mekanih članaka pod utjecajem zatezanja tetiva. U diplomskom je radu jednom ovakvom manipulatoru određena direktna i inverzna kinematika te je simulirana u Matlabu. Nadalje, manipulator je izrađen te su simulacije provjerene eksperimentalno.

Abstract (english)

Soft manipulators fall into the category of continuum robots which, thanks to their flexibility, can can follow complex trajectories in cluttered environments. Often these manipulators are actuated by pulling on tendons embedded inside a structure made out of a deformable material (silicone). It is challenging to determine the forward and inverse kinematics for this type of manipulator. One of the approaches uses piecewise constant curvature approximations to approximate the manipulator shape. In this work, for a manipulator of this type, the forward and inverse kinematics are formulated and simulated in Matlab. Furthermore, the manipulator is manufactured and the simulation is validated experimentally.

• Keywords: mekana robotika; manipulator; kinematika; tetiva; silikon; aktuacija
• Keywords (english): soft robotics; manipulator; kinematics; tendon; silicone; actuation
• Language: english
• URN:NBN: urn:nbn:hr:168:334637
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 14:27:33