20.500.12556/RUL-128490 Določitev tlačno-deformacijske karakteristike mehkega pnevmatskega prijemala Determination of the pressure-deformation characteristic of a soft pneumatic gripper V okviru naloge smo izdelali in analizirali robotski prst narejen po vzorcu PneuNet robotskih aktuatorjev. Področje mehke robotike je hitro razvijajoče se podpodročje splošne robotike. Navdihuje ga narava, ki nam vsak dan dokazuje, da lahko z mehkimi strukturami dosežemo visoko natančnost, hitro aktivacijo in gibanje ter precizno oprijemanje tudi najbolj delikatnih objektov. Zaradi nerodnosti togih, trdnih robotov, so trdni roboti, bolj kot ne, nevarni za delo z ljudmi, kar z mehkimi roboti kmalu ne bo več problem. Osredotočili smo se na merjenje upogiba aktuatorja in njegove odvisnosti od nadtlaka apliciranega v votline aktuatorja. Meritve smo večkrat ponovili, nato pa jih obdelali s pomočjo različnih programskih orodij. Opravljena je bila analiza za določitev razmerja med apliciranem nadtlakom in ukrivljenostjo aktuatorja. In this work we analysed a robotic finger based on PneuNet actuators. The area of soft robotics is a highly developing subarea of robotics in general. It is inspired by nature, which proves to us everyday, that with soft tissue we can do anything, including high adaptibility, fast activation of movement, precise hold of even the most delicate items and high precision in general. Due to rigid links and joints and not very precise movement, hard robots are unsafe for work with humans. With soft robotics this should not be much of a problem anymore. We focused on measuring of bending of the actuator and its dependence on the applied pressure into the chambers of the actuator. The measurements were repeated several times and the results were analysed using various software tools. The analysis was preformed to determine the relationship between applied pressure and curvature of the actuator. mehka robotika mehki strukturni elementi pnevmatska aktuacija 3D tisk navdihnjeno iz narave teorija velikih premikov soft robotics soft structural elements pneumatic actuation 3D printing inspired by nature large deformation theory true false false [Š. Noč] Slovenski jezik Angleški jezik Zaključna naloga 2021-07-15 08:30:35 2021-07-15 08:30:38 2023-10-20 09:09:28 0000-00-00 00:00:00 2021 0 Ljubljana 0 X, 29 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 2022-07-14 007.52:681.5:621.54(043.2) 229689 72882691 7356.pdf 7356.pdf 1 FD43AF097C9E1A46F23271A0BA836EE6 8c0909302dfd3b0f3da48ec88b2e0c52a07293c471b540d9af2d338588e0ec5a 066fe850-e536-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=145244 Fakulteta za strojništvo 0 0 0