Fleksibilni pneumatski manipulator

undergraduate thesis

• Title (english): Flexible pneumatic manipulator
• Author: Matija Čmelješević
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

Svrha ovog rada je prikaz pristupa projektiranju i izradi fleksibilnog pneumatskog manipulatora. Ovaj tip manipulatora pripada brzorastućem polju meke robotike. Cilj rada je na ovom primjeru pokazati prednosti meke u odnosu na konvencionalnu robotiku u određenim segmentima njezina djelovanja, a napose u području kolaborativnih robota.
Fleksibilni pneumatski manipulator je u biti jednostavna robotska ruka sastavljena od dva članka međusobno povezana aktuatorima na napuhavanje koji čine jedan sferni zglob. Na vrhu ovog manipulatora se nalazi vakuumska hvataljka koja omogućava prihvat i prijenos objekata od početne do krajnjih pozicija te njihovo ispuštanje.
Najprije se pojašnjava izbor strukture manipulatora i karakteristike po kojima on pripada polju meke robotike, kao i njene karakteristike uopće. Zatim se pristupa idejnom projektiranju sklopa koji se sastoji od pogonskih i upravljačkih članova, te se iznosi njihov utjecaj na konačno djelovanje manipulatora. Sljedeći korak je izbor komercijalno dostupnih komponenti za izradu sklopa te sama izrada prototipa kojoj slijedi programiranje gibanja u Arduinu. Potom se iznose rezultati i mogućnosti gibanja koje su ostvarene ovim eksperimentalnim radom. Konačno, iznosi se perspektiva daljnjeg razvoja ovog manipulatora u vidu njegovog povezivanja u naprednije sustave npr. integracijom senzora i korištenjem umjetne inteligencije.

Abstract (english)

The purpose of this paper is to present an approach to the design and manufacture of a flexible pneumatic manipulator. This type of manipulator belongs to the rapidly growing field of soft robotics. The goal of the paper is to show the advantages of soft compared to conventional robotics in certain segments of its activity, especially in the field of collaborative robots.
A flexible pneumatic manipulator is essentially a simple robotic arm composed of two joints interconnected by inflatable actuators that form one spherical joint. At the top of this manipulator there is a vacuum gripper that enables the acceptance and transfer of objects from the initial to the final positions and their release.
First of all, the choice of manipulator structure and the characteristics that make it belong to the field of soft robotics, as well as its characteristics in general, are explained. Next, the conceptual design of the assembly is approached, which consists of drive and control components, and their influence on the final operation of the manipulator is presented. The next step is the selection of commercially available components for making the circuit and the prototyping itself, followed by motion programming in Arduino. Then, the results and possibilities of motion realized by this experimental work are presented. Finally, the perspective of further development of this manipulator is presented in the form of its connection to more advanced systems, for example by integrating sensors and using artificial intelligence.

• Keywords: pneumatika; fleksibilni pneumatski manipulator; meka robotika; sferni zglob; vakuumska hvataljka; aktuatori na napuhavanje
• Keywords (english): pneumatics; flexible pneumatic manipulator; soft robotics; spherical joint; vacuum gripper; inflatable actuators
• Language: croatian
• URN:NBN: urn:nbn:hr:235:992796
• 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: 2023-02-25 13:42:37