Design of exoskeleton with pneumatic muscles

Diplomski rad se bavi pronalaţenjem konstrukcijskog rješenja, egzoskeleta na pneumatski pogon, za zadani problem. Opisane su razne vrste egzoskeleta kroz povijest te one koje se danas najĉešće primjenjuju. Analiziran je sam pneumatski mišić kroz matematiĉke modele. U laboratoriju Tehniĉkog fakulteta u Rijeci su izvršena mjerenja na pneumatskom mišiću DMSP-10 te su dobiveni stvarni rezultati usporeĊeni s postojećim iz kataloga. Odabran je problem na temelju kojeg je izvršen proraĉun kriterija ĉvrstoće za aluminijske profile segmenata egzoskeleta. Napravljen je 3D model ponuĊenog konstrukcijskog rješenja egzoskeleta.The thesis of this paper deals with designing pneumaticly activated exoskeleton, based on defined task. Many types of exoskeleton have been explained that appeared throughout history and also those which are used today. Pneumatic muscles were analysed using mathematical models. On the premisses of Faculty of engineering Rijeka, experiments were conducted using DMSP-10 pneumatic muscle, whose results were used later on in comparisson with existing catalogue results of said pneumatic muscle. Necessary aluminum profiles dimensions for exoskeleton were calculated based on chosen task, using strenght criterion. Also, 3D model of said exoskeleton was made