Oblikovanje mekog mobilnog robota

Govedić, Klemen (2017) Oblikovanje mekog mobilnog robota. = Design of soft mobile robot. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Ćurković, Petar.

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Abstract (Croatian)

Meka robotika (eng. soft robotics) je grana robotike koja se bavi robotima izgradenih od mekih i deformabilnih materijala kao sto su polimeri, silikon, guma, tkanina te mehaničkim dijelovima kao što su opruge. Grupa aktuatora koja ima najveću uporabu u mekoj robotici su memorijske legure (eng. Shape Memory Alloys, SMA). To su legure koje imaju sposobnost pamčenja oblika i vračanje u prvobitni položaj, a promjena se događa kod promjene temperature. Jedan od zadataka meke robotike je prilagodljivost i stvaranje robota koji su više nalik organizmima iz prirode i svakodnevnog života. Dnevne ljudske radnje kao što su hodanje po stepenicama, kretanje po prostoru, hvatanje i premještanje objekta. Takvi roboti koriste se prvenstveno u istraživanjima i trenutno nemaju nikakvu generalnu primjenu. Konstruirani mobilni robot izraden je od dvokomponentni silikona u kojeg su uronjene i aktuatori u obliku opruga načinjeni od memorijskih legura. Opruge se koriste kao aktivni aktuatori koji deformiraju tijelo od silikona, dok je silikon pasivna komponenta koja vraća robot u početno stanje. Deformacija koja se ostvarjuje pomiće robot po podlozi na kojoj se nalazi. Robot pokreće mikroprocesor sa tranzistorskim sklopkama koje u odredenim vremenskim intervalima pokreću odredene aktuatore. Robot nije u potpunosti autonoman budući da na sebi ne nosi spremnike energije, već za sobom povlaći žice koje ga opskrbljuju sa električnom energijom. Pokret koji robot postigne u jednoj minuti je polovica njegove ukupne duljine tijela.

Abstract

Soft Robotics is dealing with robots built from soft and deformable materials such as polymers, silicones, rubber, fabric and mechanical parts such as springs. The actuator group that has the greatest use in a soft robot are Shape Memory Alloys (SMA). These are alloys that have the ability to remember shape, wrap into the original position, and change occurs when the temperature changes. One of the tasks of soft robotics is the adaptability and creation of robots that are more like organisms of nature and everyday life. Daily human activities such as walking down the stairs, moving around space, capturing and moving objects. Such robots are used primarily in research and do not currently have any general application. The constructed mobile robot is made of silicone in which immersed spring shaped actuators are made of memory alloys. The springs are used as active actuators that deform the silicone body, while the silicon passive component restores the robot to its initial state. The deformation generated by the robot moves the substrate on which it is located. The robot drives a microprocessor with transistor switches that trigger certain actuators at certain time intervals. The robot is not completely autonomous because it does not carry any tanks of energy, but pulls the wires that supply it with electricity. The movement that the robot achieves in one minute is half its total body length.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: meka robotika, mobilni robot, memorijske legure, dvokomponentni silikon, mikroprocesorsko upravljanje, tranzistorska sklopka
Keywords (Croatian): Soft Robotics, mobile robot, Shape Memory Alloys, microprocessor control, two-component silicon, transistor switches
Subjects: TECHNICAL SCIENCE > Mechanical Engineering > general mechanical engineering (construction)
BIOTEHNICAL SCIENCES > Biotechnology
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 11 May 2017 08:35
Last Modified: 11 May 2019 04:37
URI: http://repozitorij.fsb.hr/id/eprint/7729

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