Analiza i oblikovanje mekih robotskih sustava

Roban, Josip (2019) Analiza i oblikovanje mekih robotskih sustava. = Design and analysis of soft robotic systems. Undergraduate thesis , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Ćurković, Petar.

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Abstract (Croatian)

Robotski sustavi imaju vrlo važnu ulogu u modernom svijetu. Postali su standard u industriji u kojoj se koriste za poslove koji zahtijevaju izrazitu preciznost i ponovljivost. Uspješno zamjenjuju ljudski rad na poslovima koji su monotoni, zahtijevaju prijenos velikih masa te za poslove koji se rade u okolini opasnoj po ljudsko zdravlje. Jedna karakteristika tih robotskih sustava je njihova krutost koja može savršeno funkcionirati u strogo definiranim uvjetima, no problem nastaje kad se robot nađe u nekoj novoj okolini. Da bi taj problem bio riješen javlja se potreba za razvijanjem novih sustava koji bi svojim oblikom i funkcijom mogli savladati razne prepreke koje u sustavu nisu definirane. Meki robotski sustavi (eng. soft robotics systems) razvijeni su upravo s tim ciljem. Njihova zadaća je omogućavanje kretanja po nepoznatoj okolini, hvatanje različitih predmeta i savladavanje problema koji se s krutim robotskim sustavima ne mogu riješiti. Ovaj završni rad prikazat će postupak razvoja i izrade meke robotske prihvatnice koja će služiti za prijenos predmeta različitih veličina i oblika. Prikazani postupak obuhvaća modeliranje oblika pomoću programa otvorenog koda Voxcad, odabir prikladne tehnologije za izradu prihvatnice, odabir materijala te na kraju izrada i implementacija prihvatnice.

Abstract

Robotics systems have very important role in modern world. They became standard in industry in which they’re used for work that require precision and repeatability. They successfully replacing humans in jobs that are monotonous, require transfer of heavy objects and for jobs which are set in environment dangerous for men. One characteristic of that robotics system is their rigidity which perfectly performs in highly defined environments, but problem occurs when robot enters a new undefined environment. Because of that problem need for new kind of systems arise, a systems which could solve all kind of problems which are not defined in the system. Soft robotics systems are developed to address that problem. Their goal is to enable moving through unknown environment, grabbing all kind of various objects and solving problems that rigid robotics system can’t. This paper will demonstrate procedure of design and production of soft gripper which will serve to translate object of various sizes and shapes. This paper will show modeling with open source program VoxCAD, choosing appropriate technology for making gripper, choosing material, and in the end implementation of gripper on the robotic arm.

Item Type:	Thesis (Undergraduate thesis)
Uncontrolled Keywords:	robotika; meki robotski sustavi; meka robotska prihvatnica
Keywords (Croatian):	robotics; soft robotic systems; soft gripper
Subjects:	TECHNICAL SCIENCE > Mechanical Engineering
Divisions:	900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited:	22 Feb 2019 10:53
Last Modified:	20 Nov 2019 10:22
URI:	http://repozitorij.fsb.hr/id/eprint/9111

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