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Področje mehke robotike stremi k razvoju robotov, ki bi bili primerni za varno interakcijo s človekom. Za namene mehke aktuacije pogosto uporabljamo polimere in tehnologije 3D tiska. V sklopu zaključne naloge je bil zasnovan in izdelan 3D tiskani polimerni termični aktuator, ki deluje na principu bimetala in s segrevanjem spreminja svojo obliko. Segrevanje je doseženo s principom Joulovega gretja. S pomočjo termičnih aktuatorjev smo izdelali delujoče mehko prijemalo. Za aktuator smo na podlagi teoretičnih izhodišč in laboratorijskih meritev popisali delujoč računski model. The field of soft robotics aims to develop robots suitable for safe interaction with humans. Polymers and 3D printing technologies are often used for soft actuation purposes. As part of the final thesis, we designed and produced a 3D printed polymer thermal actuator that works on the bimetal principle, changing its shape when heated. The heating is achieved by the principle of Joule heating. Using such actuators, we made a working gripper. Based on theoretical starting points and laboratory measurements, we described a working calculation model for the actuator.

V avtomatizaciji se v zadnjem času problem manipulacije krhkih in občutljivih predmetov ter sodelovanja s človekom rešuje s pomočjo ideje ti. mehke robotike. Ta temelji na posnemanju narave in uporabi inovativnih materialov ter načinov njihove uporabe. Narejenih je že veliko raziskav in prototipov, vendar je uporabno znanje za lastno izvedbo še vedno pomanjkljivo. V diplomski nalogi smo pregledali stanje tehnike na omenjenem področju. Nato smo v programu za tridimenzionalno modeliranje izdelali osnovni model aktuatorja, ki smo ga najprej načrtovali s pomočjo numeričnih simulacij. Izdelan model smo nato natisnili. Eksperimentalni preizkusi so pokazali, da večje število komor, manjši razmak med komorami in višje komore omogočajo večjo deformacijo. Ugotovili smo tudi, da bolj kot se pod tlakom aktuator deformira, večjo silo prenaša. Numerično smo preračunali radije ukrivljenosti in sile osnovnega modela ter jih primerjali z eksperimentalnimi meritvami. Rezultati so imeli podoben potek vendar manjši zamik vrednosti. Na koncu smo zasnovali in natisnili še nekaj uporabnih prototipov in jih testirali. Concurrent problems of automation regarding manipulation of brittle and sensitive objects and human interaction are currently being solved by means of soft robotics. It is based on imitation of nature, innovative materials and applications. There is already a lot of research in this field, but the knowledge for in-house production is lacking. In this bachelor thesis we have researched the state of the art in this field. We created a basic model of the actuator in the programme for three-dimensional modelling, which we designed with the help of numerical simulations. Later we also manufactured this model using 3D printing technology. Experiments have shown that more chambers, smaller distances between them and higher chambers allow greater deformation. We also found that the actuators that have larger deformations also transmit larger forces. We numerically calculated the radii and forces of the basic model which we compared to the results obtained experimentally. The results showed a very similar trend but had a small offset in values. In the end, we designed, printed and tested some useful prototypes.

V okviru naloge smo izdelali in analizirali robotski prst narejen po vzorcu PneuNet robotskih aktuatorjev. Področje mehke robotike je hitro razvijajoče se podpodročje splošne robotike. Navdihuje ga narava, ki nam vsak dan dokazuje, da lahko z mehkimi strukturami dosežemo visoko natančnost, hitro aktivacijo in gibanje ter precizno oprijemanje tudi najbolj delikatnih objektov. Zaradi nerodnosti togih, trdnih robotov, so trdni roboti, bolj kot ne, nevarni za delo z ljudmi, kar z mehkimi roboti kmalu ne bo več problem. Osredotočili smo se na merjenje upogiba aktuatorja in njegove odvisnosti od nadtlaka apliciranega v votline aktuatorja. Meritve smo večkrat ponovili, nato pa jih obdelali s pomočjo različnih programskih orodij. Opravljena je bila analiza za določitev razmerja med apliciranem nadtlakom in ukrivljenostjo aktuatorja. In this work we analysed a robotic finger based on PneuNet actuators. The area of soft robotics is a highly developing subarea of robotics in general. It is inspired by nature, which proves to us everyday, that with soft tissue we can do anything, including high adaptibility, fast activation of movement, precise hold of even the most delicate items and high precision in general. Due to rigid links and joints and not very precise movement, hard robots are unsafe for work with humans. With soft robotics this should not be much of a problem anymore. We focused on measuring of bending of the actuator and its dependence on the applied pressure into the chambers of the actuator. The measurements were repeated several times and the results were analysed using various software tools. The analysis was preformed to determine the relationship between applied pressure and curvature of the actuator.