20.500.12556/RUL-171091 Primerjava zmogljivosti 3D tiskanih mehkih prijemal Performance comparison of 3D printed soft grippers Glavni problem pri mehki pnevmatsko aktuirani robotiki je, da ne dosegamo dovolj velike sile, s katero bi bili zadovoljni. Obstaja več faktorjev, ki vplivajo na njo, ampak niso dovolj dobro popisani. To smo naredili v tej zaključni nalogi, tako, da smo najprej zasnovali svoje mehko prijemalo. To smo naredili s pomočjo MKE, nato smo prijemala natisnili ter jim izmerili najvišjo silo pri določenem kotu in tlaku. Da bi bili podatki ponovljivi, smo morali zasnovati tudi preizkuševališče. Za meritev smo uporabili S-merilnik sile. Podatki so nam pokazali, da ima vsaka oblika prijemala svojo karakteristično obliko grafa, ki prikazuje odvisnost maksimalne izmerjene sile od tlaka in kota. Podatki tudi jasno nakazujejo, da pri istem tlaku prijemala s tanjšo steno proizvedejo višjo silo kot prijemala z debelejšo steno, povečanje števila komor ter višine komor znatno poveča tudi proizvedeno silo mehkega prijemala. The main challenge in soft pneumatically actuated robotics is that we do not achieve a sufficiently high gripping force to be fully satisfactory. Several factors influence this force, but they are not well-documented. In this thesis, we aimed to address this by first designing our own soft gripper. We used Finite Element Method (FEM) for the design, then 3D printed the grippers and measured their maximum force at a given angle and pressure. To ensure the reproducibility of the data, we also designed a testing setup. For the measurements, we used an S beam load cell. The data revealed that each gripper shape has its own characteristic graph, showing the relationship between maximum measured force, pressure, and angle. The results also clearly indicate that at the same pressure, grippers with thinner walls produce higher forces than those with thicker walls. Additionally, increasing the number and height of the chambers significantly enhances the gripping force of the soft gripper. mehka prijemala SLA-tisk MKE S-merilnik sile debeline stene SolidWorks simulacija Resione F80 3D-robotika soft grippers SLA printing S beam load cell FEM wall thickness SolidWorks simulation Resione F80 3D robotics true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2025-08-02 07:30:16 2025-08-02 07:30:21 2025-08-04 13:29:59 0000-00-00 00:00:00 2025 0 0 XIV, 40 f. 2025 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.865.8:004.925.84:004.942(043.2) 272963 244757251 39500.pdf 39500.pdf 1 72F44E041A688ABB55D94C6489F6A65F cba4d42e8faca544c94b7e4d8daa45a68e342321e7153364e42736a7e54aae59 ba45a5bb-6f61-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=213865 Fakulteta za strojništvo 0 0 0