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

Abstract

V magistrskem delu snujemo biomimetičnega klobučnjaka. Delo obsega pregled obstoječe literature, kreativni proces zasnove robota, modeliranje matematičnega modela in opravljene eksperimentalne teste. Izbran subjekt raziskave je uhati klobučnjak, ki zaradi svojega gibanja predstavlja poseben izziv pri zasnovi robota. Za zasnovo koncepta uporabimo pnevmatske mreže oz. Pneu-Net robote. Koncept je razvit na podlagi pregleda literature. Pri teoretični obravnavi se poslužujemo Euler-Bernoullijeve teorije velikih deformacij in principa virtualnega dela. Eksperimentalni testi so opravljeni v laboratoriju in kopališču Tivoli, kjer preverimo plavanje in gibanje končnega izdelka. Rezultate eksperimentalnih testov primerjamo tako z matematičnim modelom kot z uhatimi klobučnjaki. Primerjava je izvedena na podlagi fotografij robota in klobučnjaka v različnih fazah gibanja.

Keywords

magistrske naloge;uhati klobučnjak;mehka robotika;nelinearna mehanika;Pneu-Net roboti;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [Š. Noč]
UDC: 007.52:519.61:531(043.2)
COBISS: 187046659 Link will open in a new window
Views: 28
Downloads: 10
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Other data

Secondary language: English
Secondary title: Design of a biomimetic jelly fish and mathematical modeling of its motion
Secondary abstract: The final thesis deals with the design of a biomimetic jellyfish based on Aurelia aurita commonly known as moon jellyfish. The work includes a review of existing literature, the creative process of designing a robot, mathematical modeling and experimental tests. The chosen subject of the research is the moon jellyfish, which due to its interesting movement, represents a special challenge in the design of the robot. For the design of the concept, we use pneumatic nets commonly known as Pneu-Net robots. The concept is developed based on a literature review. In the theoretical discussion, we use the Euler-Bernoulli theory of large deformations. Experimental tests are carried out in the laboratory and the Tivoli swimming pool, where we check the swimming and movement of the final product. The results of the experimental tests are compared both with the results of the mathematical model and with real moon jellyfish. The comparison is based on photos of the robot in different phases of movement.
Secondary keywords: master thesis;moon jellyfish;soft robotics;non linear mechanics;Pneu-Net actuators;
Type (COBISS): Master's thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XVIII, 57 str.
ID: 23002099
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