Mehansko testiranje 3D tiskanih pnevmatskih aktuatorjev GRACE

Križnik, Florjan (author), Lebar, Andrej (mentor), Sabotin, Izidor (comentor)

V nalogi smo mehansko testirali 3D natisnjene pnevmatske aktuatorje GRACE. Ti mehki aktuatorji, zasnovani po vzoru bioloških mišic, so uporabni zaradi svoje prilagodljivosti in učinkovitosti. Med pisanjem naloge smo ovrednotili njihovo zmogljivost glede na raztezke (oziroma skrčke) in sile, ustvarjene pri različnih tlakih, ter izbrali in optimizirali najprimernejši aktuator za uporabo v ortotiki. V nalogi je zajeta priprava testnih aktuatorjev, izdelanih s 3D tiskom SLA, vizualni pregled za izločitev neprimernih primerkov ter prilagoditev preizkuševališča za izvajanje meritev. Testiranje je vključevalo merjenje raztezkov in sil pri natančno nadzorovanih pogojih, pri čemer smo uporabili senzor tlaka in merilnik sile, ter kamero za merjenje raztezkov. Dobljene podatke smo obdelali in analizirali ter tako določili lastnosti posameznih aktuatorjev. Izbrali smo najbolj primeren aktuator, ki smo ga nato poskusili izboljšati s spremembami v zasnovi. V delu spoznamo prednosti GRACE aktuatorjev, kot so njihova fleksibilnost, možnost optimizacije za različne aplikacije ter sposobnost ponovljivih rezultatov. Naloga prispeva k razvoju prilagodljivih tehnologij, primernih za uporabo v robotiki, medicini in drugih bioinspiriranih področjih.

• Language: Slovenian
• Keywords: pnevmatski mehki aktuatorji, 3D tisk, mehansko testiranje, zmogljivost aktuatorjev, protetika in ortotika
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Year: 2025
• Number of pages: XX, 68 str.
• PID: 20.500.12556/RUL-167595
• UDC: 620.17:621.5:615.477(043.2)
• COBISS.SI-ID: 227934211
• Publication date in RUL: 02.03.2025

KRIŽNIK, Florjan, 2025, Mehansko testiranje 3D tiskanih pnevmatskih aktuatorjev GRACE [online]. Master’s thesis. [Accessed 14 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=167595

Secondary language

• Language: English
• Title: Mechanical testing of 3D printed pneumatic actuators GRACE

Abstract

In the thesis, we mechanically tested 3D-printed pneumatic GRACE actuators. These soft actuators, inspired by biological muscles, are valuable due to their flexibility and efficiency. The research evaluated their performance in terms of elongation (or contraction) and force generated under different pressure levels, ultimately selecting and optimizing the most suitable actuator for use in orthotics. Thesis encompassed the preparation of test actuators fabricated using SLA 3D printing, a visual inspection to eliminate defective samples, and the adaptation of the testing setup for conducting measurements. Testing involved measuring elongation and force under precisely controlled conditions, utilizing a pressure sensor, a force gauge, and a camera for elongation measurement. The collected data was processed and analysed to identify the properties of each actuator. We selected the most suitable actuator and attempted to enhance it through design modifications. Thesis highlights the advantages of GRACE actuators, including their flexibility, potential for optimization across various applications, and ability to deliver consistent results. This work contributes to the development of adaptable technologies suitable for use in robotics, medicine, and other bio-inspired fields.

• Keywords: pneumatic soft actuatos, 3D printing, mechanical testing, actuator performance, prosthetics and orthotics