Izdelava merilnika sile, izvedba meritev in MKE simulacije mehkega robotskega prijemala

Uhan, Kristjan (author), Jerman, Boris (mentor)

V diplomskem delu so predstavljeni snovanje in izdelava posebnega merilnika sile, njegovo kalibriranje in izvedba meritev sile prijema gibkega prijemalnega prsta mehkega robotskega prijemala. Meritve so bile izvedene na prototipu gibkega prijemalnega prsta, razvitega v laboratoriju LASOK, UL FS. Izvedene so bile tudi MKE simulacije prijemalnega prsta, s pomočjo katerih se je preverilo rezultate meritev prijemalne sile kakor tudi obnašanje pri upogibni in torzijski obremenitvi. Na podlagi izkušenj je bila razvita nova različica prijemalnega prsta, ki je torzijsko odpornejša in odpornejša tudi proti utrujanju. Delovanje prijemalnega prsta je popisano analitično. Analitične rezultate prijemalnega prsta smo primerjali z rezultati numeričnih simulacij in z rezultati dobljenimi pri eksperimentalnem delu. Skozi celotno diplomsko delo smo prišli do končnih rezultatov z vmesno izboljšavo prijemalnega prsta, ki se je izkazal za najprimernejšo rešitev.

• Language: Slovenian
• Keywords: mehko robotsko prijemalo, gibki prijemalni prst, merilni lističi, merilna rozeta, merilnik sile, meritve, MKE simulacije
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [K. Uhan]
• Year: 2023
• Number of pages: XXII, 68 str.
• PID: 20.500.12556/RUL-148567
• UDC: 621.865.8:531.7:004.94(043.2)
• COBISS.SI-ID: 183507203
• Publication date in RUL: 26.08.2023

Secondary language

• Language: English
• Title: Development of a force measuring device, performance of measurements and FEM simulations of a soft robotic gripper

Abstract

The thesis presents the development and construction of a special force gauge. The force gauge has been calibrated and with it, the measurements of a flexible gripping finger on a soft robotic gripper were performed.The measurements were performed on a prototype of the flexible gripper finger developed in the LASOK laboratory, UL FS. Concomitantly the FEA simulations of the gripping finger were performed. They were used to verify the results of the gripping force measurements as well as the behavior under bending and torsional load. Based on the experience, a new version of the gripping finger has been developed which is more torsionally resistant and more resistant to material fatigue. The performance of the gripping finger is described analytically. The analytical results of the gripping finger have been compared with the results of numerical simulations and with the results obtained in experimental work. Throughout the thesis, we have come to the final results, with an intermediate modification of the gripping finger, which proved to be the most optimal solution.

• Keywords: soft robotic gripper, flexible gripping finger, strain gauges, strain gauge rosette, force gauge, measurements, FEA simulations