Topološko optimiranje robotske ruke za aditivnu proizvodnju

master's thesis

• Title (english): Topology optimization of robotic hand for additive manufacturing
• Author: Matija Morić
• Mentor: Damir Godec (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-01-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu opisan je proces rekonstrukcije segmenta robotske ruke BCN3D Moveo konstrukcijskom metodom topološkog optimiranja te je prikazan proces proizvodnje zadane konstrukcije aditivnim postupcima proizvodnje.
Teorijskim dijelom rada obuhvaćena su načela strukturalnog optimiranja konstrukcija s naglaskom na topološko optimiranje, najzahtjevniju granu strukturalnog optimiranja. Prikazana je sistematizacija postupaka aditivne proizvodnje te su navedene prednosti i nedostaci aditivnih tehnologija u odnosu na konvencionalne postupke proizvodnje. Objašnjeno je načelo rada postupka taložnog očvršćivanja te su navedena i opisana pravila konstruiranja za taj postupak.
U eksperimentalnom dijelu rada detaljno je prikazan proces topološkog optimiranja konstrukcije unutar programa Altair Inspire. Konstrukcija opterećena statičkim opterećenjima optimirana je s ciljem maksimiranja krutosti uz ograničenje na volumen konstrukcije. Dobivena optimalna konstrukcija prilagođena je kako bi se proizvela tehnološkim postupkom taložnog očvršćivanja, proces proizvodnje konstrukcije također je prikazan unutar rada. U usporedbi s početnom konstrukcijom, optimalna konstrukcija je veće krutosti i manje mase te zadržava dovoljnu čvrstoću kako bi se zadovoljio faktor sigurnosti.

Abstract (english)

This thesis describes the process of redesigning a segment of the robotic arm BCN3D Moveo using the topology optimization design method. The process of manufacturing the segment using additive technologies is also shown.

The theoretical part covers the basic principles of the structural optimization method with emphasis on topology optimization, the most complex category of structural optimization. The categorization of additive manufacturing technologies is presented and their advantages and disadvantages in comparison with conventional manufacturing technologies are described. Working principle of the fused deposition modeling technology is explained and the rules of design for the process are stated and described.

In the practical part of the thesis topology optimization of a structure using the software Altair Inspire is shown in detail. Statically loaded structure is optimized with the objective to maximize stiffness with the constrain on the volume of the structure. Acquired optimal structure was designed to be easily manufactured using the fused deposition modelling technology, the manufacturing of the structure is also shown in the paper. In comparison with the initial structure, the optimal structure has higher stiffness and lower mass while retaining enough strength to satisfy the factor of safety

• Keywords: topološko optimiranje; aditivna proizvodnja; taložno očvršćivanje; robotska ruka
• Keywords (english): topology optimization; additive manufacturing; fused deposition modeling; robotic arm
• Language: croatian
• URN:NBN: urn:nbn:hr:235:986982
• 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: Production 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: 2022-01-18 18:29:55