zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni program
Anže Zrimšek Žiger (Author), Franc Majdič (Mentor)

Abstract

Za upravljanje s težkimi predmeti in kompleksno obliko so najprimernejša mehka prijemala. Za dosego cilja moramo upoštevati tako oblikovne omejitve, kot tudi materialne ovire. S 3D tiskalnikom smo natisnili 2 obliki, katerima smo izmerili sile stiskanja pri določenih kotih upogiba in med seboj primerjali rezultate. Z željo po napovedi lokacij razpok smo enak material uporabili pri nateznem testu in preučili, ali lahko s pomočjo določenih predpostavk napovemo natezno trdnostno krivuljo materiala. Ker s smolo ne moremo doseči velikih sil, smo se odločili, da uporabimo gumo NBR70. Zmes smo vulkanizirali v različno globokih kalupih, spreminjali smo pa tudi čas vulkanizacije. Pri tem smo uporabili 30-tonsko hidravlično stiskalnico, kamor smo nato vpeli vsa potrebna orodja in dodatke. Kasneje smo izvedli mnogo nateznih testov homogene vulkanizirane gume, prerezane in naknadno spojene gume z lepilom Loctite 480 in z vmesnimi ojačitvami. Z omenjenimi testi smo želeli ugotoviti, kako pri določenih spremembah varirata napetost in raztezek v primerjavi z nedotaknjenim vzorcem. Ugotovili smo, da nam mehko prijemalo s konstantno višino komor ponudi mnogo večje sile in sicer do 14 N, v primerjavi s prijemalom, kjer višina komor pada z njegovo dolžino pa dosežemo le silo 9 N.

Keywords

diplomske naloge;mehka prijemala;vulkanizacija gume;elastomeri;natezni test;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [A. Zrimšek Žiger]
UDC: 621.865.8:678.7:620.172(043.2)
COBISS: 244754947 Link will open in a new window
Views: 106
Downloads: 28
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Other data

Secondary language: English
Secondary title: Analysis of elastomer reinforcements and joint angle for soft grippers
Secondary abstract: Soft grips are best for handling heavy objects and complex shapes. To achieve this, we need to consider both the design and the material constraints. We used a 3D printer to print two moulds on which we measured the compressive forces at specific bending angles and compared the results. In order to predict the crack locations, we used the same material in a tensile test and investigated whether we could predict the stress-strain curve of the material under certain assumptions. As we could not achieve high forces with resin, we decided to use NBR70 rubber. The compound was vulcanized in moulds with different depths and at different times. We used a 30-tonne hydraulic press in which we then installed all the necessary tools. Later, numerous tensile tests were carried out on homogeneous vulcanized, cut and then bonded rubber with Loctite 480 adhesive and with intermediate reinforcements. The purpose of these tests was to determine how stress and strain change with certain changes compared to the intact sample. We found that a soft gripper with a constant chamber height provides much higher forces, up to 14 N, compared to a gripper where the chamber height decreases with the length of the gripper and only a force of 9 N is achieved.
Secondary keywords: thesis;soft grippers;vulcanization of rubbers;elastomers;tesnsile test;
Type (COBISS): Final paper
Study programme: 0
Thesis comment: Univ. v Ljubljani, Fak. za strojništvo
Pages: XI, 31 f.
ID: 26935424
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