Robotvesiliuguri disain

dc.contributor.advisorMust, Indrek, supervisor
dc.contributor.authorSoome, Rasmus
dc.contributor.otherTartu Ülikool. Loodus- ja täppisteaduste valdkondet
dc.contributor.otherTartu Ülikool. Tehnoloogiainstituutet
dc.date.accessioned2019-06-13T12:50:07Z
dc.date.available2019-06-13T12:50:07Z
dc.date.issued2019
dc.descriptionMiniature robots are of great interest in the fields of rescue, military defense and construction. Manufacturing of centimeter scale autonomous robots is a challenging task using modern assembly technologies but is a lot simpler using artificial muscles. Artificial muscles move by changing their physical shape, which makes them similar to biological muscles and allow for design of bioinspired soft robots. During this Bachelor's thesis a design for a robot that can move on water is made. The design is inspired by water strider. Many technologies are used that have not been used in soft robotics before: the electronics are designed on a flexible circuit board, which allows to use the structure of the circuit board to fasten the artifcial muscles, the artificial muscles to be used in this design have a cut in their electrodes and are bent so they could be actuated in two dimensions.en
dc.description.abstractMiniatuursed robotid pakuvad suurt huvi rakendamiseks päästetöödel, kuid ka riigikaitses ning ehituses. Sentimeetriskaalas autonoomsete robotite tootmine on väljakutsuv ülesanne kaasaegse masinaehitustehnoloogia abil, kuid osutub oluliselt lihtsamini lahendatavaks tehislihaste abil. Tehislihased liigutavad kuju muutmise kaudu, sarnanedes sellega bioloogilistele lihastele ning võimaldavad disainida bioinspireeritud pehmeroboteid. Selle bakalaureusetöö raames luuakse vee peal liikuva roboti disain, mis on inspireeritud vesiliugurist. Kasutatakse mitmeid tehnoloogiaid, mida pehmerobotite disainis varem kasutatud ei ole: roboti elektriskeem disainitakse painduvale trükkplaadile. See võimaldab trükkplaadi kasutamist tehislihaste kinnitusena. Töö raames valitakse tehislihased, mille elektroodis on katkestus ning mis on koolutatud, et võimaldada kahes teljes tehislihase liigutamist.et
dc.identifier.urihttp://hdl.handle.net/10062/64294
dc.language.isoestet
dc.publisherTartu Ülikoolet
dc.rightsembargoedAccesset
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/ee/
dc.subjectinsect scale roboten
dc.subjectartificial muscleen
dc.subjectwater strideren
dc.subjectsoft roboticsen
dc.subjectputukamõõtmetes robotet
dc.subjecttehislihaset
dc.subjectvesiliuguret
dc.subjectpehmerobootikaet
dc.subject.otherbakalaureusetöödet
dc.titleRobotvesiliuguri disainet
dc.title.alternativeDesign of a robotic water strideren
dc.typeThesiset

Files

Original bundle

Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
Soome_BSc2019.pdf
Size:
6.08 MB
Format:
Adobe Portable Document Format
Description:

License bundle

Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.71 KB
Format:
Item-specific license agreed upon to submission
Description: