3D tiskani polimerni termični aktuator

Kupnik, Jan (author), Slavič, Janko (mentor)

Področje mehke robotike stremi k razvoju robotov, ki bi bili primerni za varno interakcijo s človekom. Za namene mehke aktuacije pogosto uporabljamo polimere in tehnologije 3D tiska. V sklopu zaključne naloge je bil zasnovan in izdelan 3D tiskani polimerni termični aktuator, ki deluje na principu bimetala in s segrevanjem spreminja svojo obliko. Segrevanje je doseženo s principom Joulovega gretja. S pomočjo termičnih aktuatorjev smo izdelali delujoče mehko prijemalo. Za aktuator smo na podlagi teoretičnih izhodišč in laboratorijskih meritev popisali delujoč računski model.

• Language: Slovenian
• Keywords: aktuatorji, 3D tisk, mehka robotika, električno prevodni 3D filamenti, bimetal, Joulovo gretje
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [J. Kupnik]
• Year: 2022
• Number of pages: XIV, 32 f.
• PID: 20.500.12556/RUL-139011
• UDC: 007.52:004.925.84:621.79(043.2)
• COBISS.SI-ID: 125209859
• Publication date in RUL: 29.08.2022

Secondary language

• Language: English
• Title: 3D printed polymer thermal actuator

Abstract

The field of soft robotics aims to develop robots suitable for safe interaction with humans. Polymers and 3D printing technologies are often used for soft actuation purposes. As part of the final thesis, we designed and produced a 3D printed polymer thermal actuator that works on the bimetal principle, changing its shape when heated. The heating is achieved by the principle of Joule heating. Using such actuators, we made a working gripper. Based on theoretical starting points and laboratory measurements, we described a working calculation model for the actuator.

• Keywords: actuators, 3D printing, soft robotics, electrically conductive 3D filaments, bimetal, Joule heating