Pnevmatsko 3D-tiskano prijemalo z integriranim senzorjem

Novak, Gal (author), Valentinčič, Joško (mentor), Lebar, Andrej (comentor)

Razvoj fleksibilnih 3D-tiskanih prijemal z integriranimi senzorji zahteva optimizacijo procesnih in oblikovnih parametrov za uspešno tiskanje. V magistrskem delu smo preučevali vpliv parametrov 3D-tiskanja na električno upornost senzorjev in deformacijo prijemala pri različnih tlakih. Senzor smo izdelali iz materiala Ninjatek EEL (90A), aktuator pa iz TPU Trček (87A). Glavni del preizkusa je zajemal deformacijo prijemala pri različnih tlakih (od 0 do 2,5 bar) in določanje odziva senzorja na spremembe tlaka. Rezultati so pokazali, da se upornost senzorja predvidljivo povečuje s tlakom, pri čemer višji tlaki povzročajo večjo variabilnost meritev. Deformacija prijemala narašča skoraj linearno, kar kaže na uporabnost prijemala v testiranem območju tlaka.

• Language: Slovenian
• Keywords: fleksibilna prijemala, 3D-tiskano prijemala, 3D-tiskani senzorji, metoda odzivnih površin, načrtovanje eksperimentov, iztiskavanje materiala (MEX), 3D-tiskanje
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2025
• Number of pages: XXII, 60 str.
• PID: 20.500.12556/RUL-173156
• UDC: 007.52:621.865.8:004.925.84(043.2)
• COBISS.SI-ID: 251066371
• Publication date in RUL: 13.09.2025

Secondary language

• Language: English
• Title: Pneumatic 3D printed gripper with embedded sensor

Abstract

Development of flexible 3D-printed grippers with integrated sensors requires optimization of mechanical properties and sensing capabilities. In this master's thesis, we investigated the impact of 3D printing parameters on the electrical resistance of the sensors and the deformation of the gripper under different pressures. The sensor was made from Ninjatek EEL (90A) material, and the actuator from TPU Trček (87A). The main part of the experiment involved measuring the deformation of the gripper under different pressures (from 0 to 2.5 bar) and determining the sensor’s response to pressure changes. The results showed that the sensor resistance predictably increases with pressure, with higher pressures causing greater measurement variability. The gripper deformation increases almost linearly, indicating the gripper's usability within the tested pressure range.

• Keywords: flexible grippers, 3D-printed grippers, 3D-printed sensors, surface response method, design of experiments, material extrusion(MEX), 3D printing