Meke pneumatske mreže u oblikovanju proteze šake

master's thesis

• Title (english): Soft pneumatic networks in human hand prosthesis design
• Author: Antonio Jambrečić
• Mentor: Petar Ćurković (mentor)
• Committee member: Danijel Pavković (predsjednik povjerenstva)
• Committee member: Petar Ćurković (član povjerenstva)
• Committee member: Marko Švaco (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

U ovome radu demonstrirana je primjena mekih pneumatskih mreža u oblikovanju proteze šake. Pneumatske mreže pripadaju grani meke robotike koja se u posljednje vrijeme intenzivno razvija a koju karakterizira uporaba mekih materijala pri dizajnu aktuatora. Ovi aktuatori postižu mnoga zanimljiva svojstva koja polagano pomiču granice robotike prema živim bićima. Za primjenu u oblikovanju proteze šake, detaljno je proučena anatomija biološke šake kao bi se ostvarila što je moguće veća podudarnost gibanja. Korištenje mekih materijala pokazuje se izazovno u pogledu modeliranja ovakvih sustava a jedan od pristupa tom problemu je uporaba metode konačnih elemenata. Prikazan je postupak unaprjeđenja strukture aktuatora od mekih pneumatskih mreža koje su zatim korištene za oblikovanje prstiju. Nadalje, prsti su sastavljeni u šaku te je izvršena konačna simulacija cijelog sustava. Rezultati analize metodom konačnih elemenata uspoređeni su s eksperimentom na primjerku izrađenom korištenjem aditivnih tehnologija.

Abstract (english)

In this thesis application of soft pneumatic networks is demonstrated in design of hand prosthesis. Pneumatic networks belong to domain of soft robotics which is currently undergoing intense development with use of soft materials. Actuators made of soft materials achieve some interesting properties that move boundaries of robotics towards living beings. For application in design of prosthesis, anatomy of human hand is examined thoroughly in order to match natural motions. Using soft materials represents a challenge when it comes to modeling these systems and one approach is to use finite element analysis. A procedure for improvement of actuator structure is presented and results are used for modeling soft pneumatic fingers. Fingers are assembled to form a hand upon which a final analysis is made. Results of analysis are compared with specimens made by using additive technologies.

• Keywords: meki roboti; biomimetika; pneumatske mreže; metoda konačnih elemenata; 3d printanje
• Keywords (english): soft robots; biomimetics; pneumatic networks; finite element analysis; 3D printing
• Language: croatian
• URN:NBN: urn:nbn:hr:235:789817
• 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; Embargo expiration date: 2022-07-14
• Created on: 2020-07-26 15:15:31