Konstrukcija fleksibilnog robotskog hvatača

master's thesis

• Title (english): Soft flexible gripper design
• Author: Eugen Kutleša
• Mentor: Zoran Domitran (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-01, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

U ovome radu konstrukcijski je oblikovan fleksibilni robotski hvatač. Na početku rada dan je kratak uvid u područje fleksibilne („meke“) robotike kao brzorastuće i široko primjenjive grane robotike. Navedena su mnoga trenutna područja primjene kao i potencijalni smjerovi razvoja fleksibilne robotike. Koristi se i pojam fleksibilnog („mekog“) hvatanja kao općenito dosta važnog područja primjene. Navode se osnovni fizikalni principi fleksibilnog hvatanja: hvatanje pomoću aktuacije, hvatanje upravljanjem krutosti i hvatanje pomoću upravljanja adhezijom. Svaki princip hvatanja je opisan i navedeni su neki primjeri primjene. Odabrani princip hvatanja je hvatanje pomoću aktuacije te je za fluidičke elastomerne aktuatore navedeno nekoliko koncepata prema već postojećim rješenjima. Kao koncept aktuatora za fleksibilni robotski hvatač odabran je pneumatski „brzi“ PneuNets aktuator. Nadalje, oblikovani su i ostali dijelovi robotskog hvatača pazeći na mogućnost jednostavne i jeftine izrade dijelova. Konstruirani dijelovi, koji nisu standardni, mogu se izraditi tehnologijom 3D ispisa ili lijevanjem elastomernih materijala. Opisan je pneumatski sustav koji pogoni fleksibilni robotski hvatač. Na kraju je provedena gruba numerička analiza pneumatskog aktuatora u svrhu dobivanja orijentacijskih vrijednosti pomaka, sile i naprezanja. Dijelovi hvatača oblikovani su u CAD alatu SOLIDWORKS, a numerička FEM analiza je provedena u Abaqus CAE.

Abstract (english)

In this thesis, a soft gripper is designed. At the beginning of the paper, a brief overview of the field of soft robotics is given as a fast-growing and widely applicable branch of robotics. Many current areas of application as well as potential directions for the development of soft robotics are listed. The term of soft gripping is also used as a generally quite important field of application. The basic physical principles of soft grasping (gripping) are outlined: gripping by actuation , gripping by controlled stiffness and gripping by controlled adhesion. Each grasping (gripping) principle is described and some application examples are given. The chosen grasping (gripping) principle is gripping by actuation, and for fluidic elastomer actuators, several concepts are specified according to already existing solutions. The pneumatic "fast" PneuNets actuator was chosen as the actuator concept for the soft robotic gripper. Furthermore, the other parts of the robot gripper were designed, paying attention to the possibility of simple and cheap production of parts. Designed, not standard parts, can be made by 3D printing technology or by elastomer material molding. The pneumatic drive system for soft gripper is described. At the end, a rough numerical analysis of the pneumatic actuator was performed in order to obtain orientational values of displacement, force and stress. The gripper parts were designed in CAD software SOLIDWORKS, and the numerical FEM analysis was performed in Abaqus CAE.

• Keywords: fleksibilna („meka“) robotika; fleksibilno („meko“) hvatanje; fleksibilni robotski hvatač; pneumatski fleksibilni aktuator; konstrukcijsko oblikovanje
• Keywords (english): soft robotics; soft gripping; soft gripper; pneumatic soft actuator; design
• Language: croatian
• URN:NBN: urn:nbn:hr:235:539777
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems; Course: Design; 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: 2023-01-23 12:20:54