CONSTRUCTION ELEMENTS APPLIED IN CONSTRUCTIVE SOLUTION OF MECHANICAL GRAPPLES

U završnom radu objašnjen je pojam mehaničke hvataljke. Navedene su osnovne podjele mehaničkih hvataljki na temelju konstrukcije i njihove primjene. Dan je prikaz njihovog povijesnog razvoja. Na zanimljiv i ilustrativan način uz pomoć brojnih primjera iz životinjskog i ljudskog svijeta prikazan je utjecaj bionike na konstrukcijski i funkcionalni razvoj mehaničke hvataljke. Izvršena je podjela mehaničkih hvataljki na temelju njihove kinematske strukture. Pojedine skupine detaljno su opisane, uprizorene raznim slikama i matematički objašnjene brojnim izrazima. Dan je pregled prednosti i nedostataka svake skupine kao i njihova najčešća upotreba. Odabran je problemski zadatak. Napisana je tablica zahtjeva i morfološka matrica na temelju kojih je pronađeno konstrukcijsko rješenje za ispunjenje zadanog zadatka. Detaljno je objašnjen način ispunjenja parcijalnih funkcija i napravljen je računalni 3D model u računalnom programu Autodesk Inventor Professional 2017. Za karakteristične dijelove sklopa mehaničke hvataljke napravljen je proračun.In the final work, the term of mechanical gripper has been explained. The basic divisions are listed based on construction and their application. The representation of their historical development has been given. In an interesting and illustrative way, with numerous examples from animal and human world, the impact of bionics on constructional and functional development of mechanical grippers has been shown. Divison of mechanical forceps has been executed based on their kinematic structure. Some groups are described in detail, scened with different pictures and are mathematically explained with numerous expressions. Review of advantages and deficiencies of every group has been given, as well as their most common use. Problem task is selected. An application table and a morphological matrix were written based on which a constructive solution was found to fulfill the given task. A detailed way of fulfilling partial functions is explained and a computer 3D model was created in the Autodesk Iventor Professional 2017 computer program. For the characteristic parts of the mechanical gripper assembly, a calculation was made