magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Tilen Valjavec (Author), Franc Majdič (Mentor), Boris Jerman (Co-mentor), Lidija Slemenik Perše (Co-mentor)

Abstract

V robotiki in protetiki je uporaba mehkih aktuatorjev vedno večja, zato se je razvila ideja, da bi na Fakulteti za strojništvo Univerze v Ljubljani razvili mehke aktuatorje. Te bi lahko uporabili v humanoidni robotiki, prav tako pa bi bili uporabni v protetiki in bi bile njihove lastnosti enakovredne človeški dlani ter prstom. V magistrski nalogi smo izvedli pregled razvoja obstoječih konceptov humanoidnih robotov ter protetičnih opornic. Sledil je podrobnejši pregled obstoječih mehkih aktuatorjev ter njihova primerjava. Izdelali smo dva različna modela mehkih aktuatorjev, ki smo ju numerično preverili z analizami MKE. Izdelali smo tudi prototipe in numerične izračune primerjali z rezultati, pridobljenimi na testih. Najboljši model mehkega aktuatorja smo uporabili pri modeliranju celotne dlani, ki smo jo nato izdelali in preverili njeno delovanje. Izbrali smo posamezne komponente, ki bi zadostovale za krmiljenje takšnega sistema mehkih aktuatorjev, in jih umestili v 3D-model.

Keywords

magistrske naloge;mehka robotika;protetika;humanoidna robotika;fluidna tehnika;3D tisk;MKE analize;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [T. Valjavec]
UDC: 007.52:621.9.04:621.3.98(043.2)
COBISS: 218917635 Link will open in a new window
Views: 148
Downloads: 16
Average score: 0 (0 votes)
Metadata: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Other data

Secondary language: English
Secondary title: Soft actuators for use in prosthetics and humanoid robots
Secondary abstract: The ever-increasing use of soft actuators in the field of robotics and prosthetics led to the idea of developing soft actuators at the Faculty of Engineering in Ljubljana. These could be used in humanoid robotics, but their use could also extend to the field of prosthetics, where their properties would not be unlike those of real human palm and fingers. For the purpose of this master's thesis, we studied the development of existing concepts of humanoid robots and prosthetic braces. What followed was a detailed overview and comparison of existing soft actuators. Two different models of soft actuators were made and numerically verified via the FEM analysis (finite element method). We made several prototypes and compared numerical calculations to the results obtained from the tests. The best model of soft actuators was used to model, manufacture and test the entire palm. Finally, we also selected individual components that would be adequate to control such a system of soft actuators and integrated them into a 3D model.
Secondary keywords: master thesis;soft robotics;prosthetics;humanoid robotics;fluid power;3D print;FEA analysis;
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: 25021686
Recommended works:
, magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
, diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo
, zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program
, diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo - Projektno aplikativni program
, diplomsko delo