20.500.12556/RUL-119456 Mehanska rešitev za zmanjšanje trenja v Bovden potegu nosljivega robota Mechanical solution for reducing friction in Bowden cable of a wearable robot Bovden poteg je pogosto uporabljen za prenos sil pri nosljivih robotih. Slaba stran takega prenosa je trenje, ki se pojavi ob njegovem upogibu. Z namenom zmanjšanja tega trenja smo razvili model, ki je opisan tekom diplomske naloge. S primerjavo meritev z in brez mehanske izboljšave smo ugotovili, da lahko z uporabo majhnih škripcev za preusmeritev Bovden potega opazno zmanjšamo silo trenja. Bowden cables are often used for transferring forces of wearable robots. The downside of such transfer is friction that appears upon bending of Bowden cables. We have developed a model to counteract such friction and have discussed it throughout this thesis. By comparing measurements with and without the mechanical solution we have determined, that when using pulleys to change the position of the Bowden cable, the friction force has been significantly reduced. Bovden poteg trenje eksoskelet mehanska rešitev škripec Bowden cable friction exoskeleton mechanical solution pulley true false false [N. Luckmann] Slovenski jezik Angleški jezik Zaključna naloga 2020-09-09 08:31:07 2020-09-09 08:31:13 2023-12-13 10:46:21 0000-00-00 00:00:00 2020 0 Ljubljana 0 XIII, 30 f. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 531.4:621.861:007.52(043.2) 223943 28848643 5785.pdf 5785.pdf 1 B1A36FAFF1E1A5BEA0171BC20F119041 80fca4c2b1112a7b2b09c6dee297856fc2ad4975776abd2b740db4ecfc2a5707 d51ed532-a1b9-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=134167 Fakulteta za strojništvo 0 0 0