Bellow actuator topology optimization

Tradicionalno, u strojarstvu se upotrebljavaju kruti materijali izradu točnih i predvidljivih robotskih sustava. Ta svojstva ograničavaju njihovu sposobnost interakcije sa okolišem. Zbog tih razloga javila se potreba za mekim robotskim sustavima koji su prilagodljivi svojoj okolini i mogu savladavati zadatke koji nisu predefinirani. Ovakvi sustavi inspirirani su živim bićima koji često nadilaze mogućnosti trenutačnog stanja tehnike u smislu nosivosti i pokretljivosti. Već sada meki roboti koriste se u raznoj medicinskoj tehnologiji, skladištima za preradu hrane i generalno u područjima gdje tradicionalni robotski sustavi predstavljaju opasnost za ljudski život. Ovaj rad obrađuje pregled nekih materijala pogodnih za izradu mekih aktuatora, te opisi način rada topologija temeljenih na „bellow“ strukturi. Prikazano je unaprjeđenje strukture mekih aktuatora povećane fleksibilnosti uporabom simulacijskih alata za analizu konačnih elemenata. Završno, daje se prijedlog rješenja najvećeg problema mekih robotskih sustava –kontrola i preciznost.Conventionally, solid materials are used in mechanical engineering to make accurate and predictable robotic systems, these properties limit their ability to interact with the environment. For these reasons, there is a need for soft robotic systems that are adaptable to their environment and can handle tasks that are not predefined. Such systems are inspired by animals, which often go beyond the capabilities of the current technology in terms of payload and mobility. Today, soft robots are used in a variety of medical technology, food processing warehouses, and generally in areas where traditional robotic systems pose a threat to human life. This paper deals with an overview of materials suitable for the manufacture of soft actuators, a description and mode of operation topologies based on bellow structures. This paper presents the improvement of the structure of soft actuators of increased flexibility using simulation tools for finite element analysis. Finally, a proposed solution is given to the biggest problem of soft robotic systems - control and precision