magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Luka Arlič (Author), Miha Brojan (Mentor)

Abstract

Mehka robotika je ena izmed novejših področij raziskav v robotiki in se v zadnjem desetletju pospešeno razvija. V nalogi smo najprej naredili temeljit pregled stanja raziskanega na tem področju ter klasificirali mehke robote na pet področij. Na podlagi pregledanega smo se odločili za zasnovo mehkega, pnevmatskega biomimetičnega robota morskega biča. Z izdelavo različnih konceptov in numeričnih analiz smo prišli do končne oblike robota ter ga izdelali. Na koncu smo naredili meritve lastnosti robota ter jih primerjali z numeričnimi rezultati in rezultati dobljenimi z matematičnimi izračuni.

Keywords

magistrske naloge;mehka robotika;mehki aktuator;nelinearnost;hiperelastičnost;numerična simulacija;plavalec;morski bič;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [L. Arlič]
UDC: 004.896:004.942:681.586(043.2)
COBISS: 187043331 Link will open in a new window
Views: 21
Downloads: 5
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Other data

Secondary language: English
Secondary title: Design and fabrication of a biomimetic soft-robot stingray
Secondary abstract: Soft robotics is one of the newer areas of research in robotics and has been rapidly advancing in the past decade. In this thesis, we conducted a thorough review of the state of research in this field, classifying soft robots into five categories. Based on this review, we opted to design a soft, pneumatic biomimetic robot inspired by a stingray. Through the creation of various concepts and numerical analyses, we arrived at the final form of the robot and proceeded to manufacture it. Finally, we performed measurements of the robot's properties and compared them with numerical results and outcomes obtained through mathematical calculations.
Secondary keywords: master thesis;soft robotics;soft actuator;non-linearity;hyper elasticity;numerical simulation;swimmer;stingray;
Type (COBISS): Master's thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XXII, 75 str.
ID: 23002091
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