Samosklapajući origami roboti

master's thesis

• Author: Josip Roban
• Mentor: Petar Ćurković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Robotski sustavi u postali su standardni dio današnje tehnologije. Imaju vrlo široku primjenu u različitim industrijama i imaju mogućnost obavljati zadatke koji nisu primjereni za čovjeka. Naravno uz mogućnost obavljana takvih funkcija još su i vrlo brzi, precizni i imaju visoku ponovljivost. Sve te karakteristike zvuče vrlo dobro, no takvi sustavi generalno su vrlo skupi i ne mogu se primijeniti u svim okolinama. Iz tog razloga počinje istraživanje i razvoj sustava koji bi zamijenio konvencionalne robote u tim slučajevima. Jedno od rješenja su samosklapajući origami roboti. Samosklapajući origami roboti mogu biti jeftino proizvedeni od širokog spektra materijala, a konstrukcijski uvjet je da se mogu savijati. Pokretanje samosklapajućih robota bit će izvedeno pomoću podtlaka što je vrlo dobar način aktuacije jer je siguran za korištenje. Uz jednostavan dizajn mogu se dobiti multidimenzionalne kretnje i postići vrlo velika gustoća snage. Ovaj diplomski rad prikazat će razvoj origami umjetnog mišića i origami prihvatnice. Prvi korak bit će izrada i simulacija modela u programima VoxCAD i PyBullet. Nakon dobivenih rezultata za željene oblike konstruirat će se fizički prototip oba modela i slijedit će njihova izrada. Tehnologija izrade strukture bit će 3D printanje. Na kraju slijedi usporedba simulacije i fizičkog prototipa te zaključak.

Abstract (english)

Robot systems became standard part of today technology. They have wide applications in different industries and they can do work which is not suitable for humans. While they have ability to do that kind of work, they are also very fast, precise and have high repeatability. All those characteristics sound very appealing, but these systems in general are very expensive and can’t be used in all kind of environments. Because of that reason new researches and development of new kind of robot systems started which could replace conventional robots in these specific cases. One of solutions are self-assembling origami robots. These robots can be cheaply produced out of wide variety of materials and their one construction condition is to be bendable. Function of these self-assembly robots will be done with negative pressure which is very convenient way to actuate because it’s safe for use. With simple design it is possible to get multidimensional movement and gain very high power to weight ratio. This master thesis will show development of origami artificial muscle and origami gripper. First step will be construction and simulation of models in VoxCAD and PyBullet. After simulations are complete for desired models, we’ll construct physical prototype of both models and start their production. Production technology will be 3D printing. At the end we’ll compare both simulations with physical prototype and give conclusion.

• Keywords: robotika; origami roboti; samosklapajući roboti; meki robotski sustavi; VoxCAD; PyBullet; 3D printanje
• Keywords (english): robotics; origami robots; self-assemly robots; soft robotics systems; VoxCAD; PyBullet; 3D printing
• Language: croatian
• URN:NBN: urn:nbn:hr:235:758871
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2021-07-13 18:39:45