Mehki aktuatorji za uporabo v protetiki in pri humanoidnih robotih

Valjavec, Tilen (author), Majdič, Franc (mentor), Jerman, Boris (comentor), Slemenik Perše, Lidija (comentor)

V robotiki in protetiki je uporaba mehkih aktuatorjev vedno večja, zato se je razvila ideja, da bi na Fakulteti za strojništvo Univerze v Ljubljani razvili mehke aktuatorje. Te bi lahko uporabili v humanoidni robotiki, prav tako pa bi bili uporabni v protetiki in bi bile njihove lastnosti enakovredne človeški dlani ter prstom. V magistrski nalogi smo izvedli pregled razvoja obstoječih konceptov humanoidnih robotov ter protetičnih opornic. Sledil je podrobnejši pregled obstoječih mehkih aktuatorjev ter njihova primerjava. Izdelali smo dva različna modela mehkih aktuatorjev, ki smo ju numerično preverili z analizami MKE. Izdelali smo tudi prototipe in numerične izračune primerjali z rezultati, pridobljenimi na testih. Najboljši model mehkega aktuatorja smo uporabili pri modeliranju celotne dlani, ki smo jo nato izdelali in preverili njeno delovanje. Izbrali smo posamezne komponente, ki bi zadostovale za krmiljenje takšnega sistema mehkih aktuatorjev, in jih umestili v 3D-model.

• Language: Slovenian
• Keywords: mehka robotika, protetika, humanoidna robotika, fluidna tehnika, 3D tisk, MKE analize
• Work type: Master's thesis/paper
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2024
• PID: 20.500.12556/RUL-161643
• Publication date in RUL: 13.09.2024

Secondary language

• Language: English
• Title: Soft actuators for use in prosthetics and humanoid robots

Abstract

The ever-increasing use of soft actuators in the field of robotics and prosthetics led to the idea of developing soft actuators at the Faculty of Engineering in Ljubljana. These could be used in humanoid robotics, but their use could also extend to the field of prosthetics, where their properties would not be unlike those of real human palm and fingers. For the purpose of this master's thesis, we studied the development of existing concepts of humanoid robots and prosthetic braces. What followed was a detailed overview and comparison of existing soft actuators. Two different models of soft actuators were made and numerically verified via the FEM analysis (finite element method). We made several prototypes and compared numerical calculations to the results obtained from the tests. The best model of soft actuators was used to model, manufacture and test the entire palm. Finally, we also selected individual components that would be adequate to control such a system of soft actuators and integrated them into a 3D model.

• Keywords: soft robotics, prosthetics, humanoid robotics, fluid power, 3D print, FEA analysis