Analiza mehkih robotskih prijemal

Puconja, Nik (author), Vrabič, Rok (mentor)

Področje mehke robotike se zadnjih par let vse bolj razvija. In najosnovnejši princip delovanja robota je prijemanje, katero potem vodi v druge možnosti uporabe predmetov. Zato so vse bolj zaželena tudi mehka prijemala. V tej zaključni nalogi so podane osnove mehke robotike in mehkih prijemal, njihovih sestavnih materialov, tehnologij delovanja in glavnih izvedb mehkih prijemal. S pomočjo modelirnih programov in preračunov, je podana podrobnejša analiza treh različnih izvedb in na koncu je podana še primerjava, med posameznimi izvedbami. Ugotovljeno je bilo, da so si izvedbe med seboj zelo različne, in da ima zato vsaka izvedba določeno področje, v katerem prekaša ostale izvedbe mehkih prijemal.

• Language: Slovenian
• Keywords: robotika, mehka robotika, mehka prijemala, prijemanje, izvedbe prijemal, aktuacija
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [N. Puconja]
• Year: 2023
• Number of pages: XIV, 29 str.
• PID: 20.500.12556/RUL-151360
• UDC: 621.865.8:007.52:004.925.84(043.2)
• COBISS.SI-ID: 184190723
• Publication date in RUL: 05.10.2023

Secondary language

• Language: English
• Title: Analysis of robotic soft grippers

Abstract

The field of soft robotics has been growing rapidly in the last couple of years. And the most basic function of a robot is gripping which can lead to other fields of use. As such, soft grippers are becoming more and more popular. This thesis provides the basics of soft robotics and specifically soft grippers, their basic materials, their power options and gripping technologies. With the help of CAD programs and mathematical equations, we have made a detailed analysis of three different versions of soft grippers. In the end we have also made a direct comparison between these three versions of grippers. Through these methods, we have surmised that these versions differ vastly from one another, and it is for that reason that each singular version, has a certain field of use where it exceeds, in comparison to the other versions of soft grippers.

• Keywords: robotics, soft robotics, soft grippers, gripping, versions of grippers, actuation