Razvoj bioinspiriranog zmijolikog robota

master's thesis

• Title (english): Development of a bio-inspired snake robot
• Author: Matej Čarapina
• Mentor: Zoran Kunica (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-12-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Razvoj i primjena radnih alata podrazumijevaju svrhovito proširenje i uvećanje individualnih ljudskih sposobnosti. Stoga se, prirodno, u alatima istodobno nalaze odrazi ljudima karakterističnih sposobnosti. Taj se čovječji odraz u alatima posebno vidi u evoluciji industrijskih manipulatora: od jednostavnih linearnih osiju, preko prvotne uvriježenosti pojedinačnih robotskih ruku, do kasnijeg razvoja dvorukih robota. No, humanocentričnost izvedbe alata ili stroja neće uvijek biti najprikladnije i najefikasnije rješenje za neke radne zadatke i okružja, već se inspiracija za izvedbu alata treba tražiti kod drugih živih bića te u njihovim značajkama i specifičnim sposobnostima.

Abstract (english)

This thesis provides a description of biorobotics with an overview of the groups of snake
robots with a detailed description of each. Pipe inspection issues are described and a review of
conventional equipment used for inspection was given. The benefits of using snake robots in
pipe inspection are given. The concept of the snake robot for pipe inspection is proposed,
which includes: a review and description of its characteristics, design of four variants of
skeleton and the selection of the most appropriate forelaboration,selection of suitable
materials for making all parts of the snake robot,choice of drive for actuation as a stack of
dielectric elastomersand control with control components of the snake robot.

• Keywords: biorobotika; zmijoliki robot; inspekcija; cijevni sustav
• Keywords (english): biorobotics; snake robot; inspection; piping
• Language: croatian
• URN:NBN: urn:nbn:hr:235:600427
• 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: 2019-05-22 20:52:24