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undergraduate thesis
Optimiranje topologije Bellow aktuatora
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. urn:nbn:hr:235:162059
Škrobar, Rafael
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Škrobar, R. (2021). Optimiranje topologije Bellow aktuatora (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:162059

Škrobar, Rafael. "Optimiranje topologije Bellow aktuatora." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:162059

Škrobar, Rafael. "Optimiranje topologije Bellow aktuatora." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:162059

Škrobar, R. (2021). 'Optimiranje topologije Bellow aktuatora', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 19 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:162059

Škrobar R. Optimiranje topologije Bellow aktuatora [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2021 [cited 2024 December 19] Available at: https://urn.nsk.hr/urn:nbn:hr:235:162059

R. Škrobar, "Optimiranje topologije Bellow aktuatora", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:235:162059

Metadata
TitleOptimiranje topologije Bellow aktuatora
Title (english)Bellow actuator topology optimization
AuthorRafael Škrobar
MentorPetar Ćurković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2021-02-25, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Tradicionalno, u strojarstvu se upotrebljavaju kruti materijali izradu točnih i predvidljivih robotskih sustava. Ta svojstva ograničavaju njihovu sposobnost interakcije sa okolišem. Zbog tih razloga javila se potreba za mekim robotskim sustavima koji su prilagodljivi svojoj okolini i mogu savladavati zadatke koji nisu predefinirani. Ovakvi sustavi inspirirani su živim bićima koji često nadilaze mogućnosti trenutačnog stanja tehnike u smislu nosivosti i pokretljivosti. Već sada meki roboti koriste se u raznoj medicinskoj tehnologiji, skladištima za preradu hrane i generalno u područjima gdje tradicionalni robotski sustavi predstavljaju opasnost za ljudski život. Ovaj rad obrađuje pregled nekih materijala pogodnih za izradu mekih aktuatora, te opisi način rada topologija temeljenih na „bellow“ strukturi. Prikazano je unaprjeđenje strukture mekih aktuatora povećane fleksibilnosti uporabom simulacijskih alata za analizu konačnih elemenata. Završno, daje se prijedlog rješenja najvećeg problema mekih robotskih sustava –kontrola i preciznost.
Abstract (english)
Conventionally, solid materials are used in mechanical engineering to make accurate and predictable robotic systems, these properties limit their ability to interact with the environment. For these reasons, there is a need for soft robotic systems that are adaptable to their environment and can handle tasks that are not predefined. Such systems are inspired by animals, which often go beyond the capabilities of the current technology in terms of payload and mobility. Today, soft robots are used in a variety of medical technology, food processing warehouses, and generally in areas where traditional robotic systems pose a threat to human life. This paper deals with an overview of materials suitable for the manufacture of soft actuators, a description and mode of operation topologies based on bellow structures. This paper presents the improvement of the structure of soft actuators of increased flexibility using simulation tools for finite element analysis. Finally, a proposed solution is given to the biggest problem of soft robotic systems - control and precision.
Keywords
Languagecroatian
URN:NBNurn:nbn:hr:235:162059
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2021-02-20 11:05:33