Optimiranje topologije Bellow aktuatora

undergraduate thesis

• Title (english): Bellow actuator topology optimization
• Author: Rafael Škrobar
• Mentor: Petar Ćurković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Tradicionalno, u strojarstvu se upotrebljavaju kruti materijali izradu točnih i predvidljivih robotskih sustava. Ta svojstva ograničavaju njihovu sposobnost interakcije sa okolišem. Zbog tih razloga javila se potreba za mekim robotskim sustavima koji su prilagodljivi svojoj okolini i mogu savladavati zadatke koji nisu predefinirani. Ovakvi sustavi inspirirani su živim bićima koji često nadilaze mogućnosti trenutačnog stanja tehnike u smislu nosivosti i pokretljivosti. Već sada meki roboti koriste se u raznoj medicinskoj tehnologiji, skladištima za preradu hrane i generalno u područjima gdje tradicionalni robotski sustavi predstavljaju opasnost za ljudski život. Ovaj rad obrađuje pregled nekih materijala pogodnih za izradu mekih aktuatora, te opisi način rada topologija temeljenih na „bellow“ strukturi. Prikazano je unaprjeđenje strukture mekih aktuatora povećane fleksibilnosti uporabom simulacijskih alata za analizu konačnih elemenata. Završno, daje se prijedlog rješenja najvećeg problema mekih robotskih sustava –kontrola i preciznost.

Abstract (english)

Conventionally, solid materials are used in mechanical engineering to make accurate and
predictable robotic systems, these properties limit their ability to interact with the environment.
For these reasons, there is a need for soft robotic systems that are adaptable to their environment
and can handle tasks that are not predefined. Such systems are inspired by animals, which often
go beyond the capabilities of the current technology in terms of payload and mobility. Today,
soft robots are used in a variety of medical technology, food processing warehouses, and
generally in areas where traditional robotic systems pose a threat to human life. This paper deals
with an overview of materials suitable for the manufacture of soft actuators, a description and
mode of operation topologies based on bellow structures. This paper presents the improvement
of the structure of soft actuators of increased flexibility using simulation tools for finite element
analysis. Finally, a proposed solution is given to the biggest problem of soft robotic systems -
control and precision.

• Keywords: meka robotika; bellow struktura; simulacijski alati; konačni elementi
• Language: croatian
• URN:NBN: urn:nbn:hr:235:162059
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2021-02-20 11:05:33