Kabarcık döküm tekniği ile üretilen elastomer esaslı yumuşak robotik tutucunun performansının incelenmesi

Yıl 2024, Cilt: 14 Sayı: 4, 1120 - 1127, 15.12.2024

Murat Eroğlu

https://doi.org/10.17714/gumusfenbil.1244719

Öz

Kabarcık döküm tekniği ile elastomerik malzemeden oluşan yumuşak bir robotik aktüatör üretilmiştir. Sıvı elastomerin viskozitesinin robotik aktüatörün bükülme şeklini nasıl etkilediğini belirlemek için araştırmalar yapıldı. Tutucunun eğriliği, tepki süresi ve yük taşıma kapasitesi ölçülmüş ve uygulanan hava basıncı ile bu özellikler arasındaki ilişki incelenmiştir. Ayrıca çevresel faktörlerin (kuru, ıslak ve yağlı) tutucunun yük taşıma kapasitesi üzerindeki etkisi incelenmiştir. Bu bulgular, uygulanan hava basıncı arttıkça tutucunun tepki süresinin, eğriliğinin ve yük taşıma kapasitesinin tamamının arttığını göstermektedir. Uygulanan tüm basınçlar için tutucunun en yüksek yük taşıma kapasitesi kuru ortamda gözlenmiştir. Üretilen robotik tutucuların kuru ortamda yük taşıma kapasitesi, 30 kPa, 35 kPa ve 40 kPa basınçları için sırasıyla yaklaşık 2,5 g, 3,5 g ve 5,9 g olmuştur. Bekleme süresinin değiştirilmesiyle elastomerin viskozitesi yönetilebilir. Optimum bükme performansı için ideal bekleme süresi 3 ile 4 dakika arasında bulunmuştur. Yumuşak robotik tutucu, daha yüksek performans elde etmek için geliştirilirse, gerçek dünya uygulamaları için uygun olacaktır.

Anahtar Kelimeler

Elastomer, Kabarcık döküm tekniği, Performans, Yumuşak robotik tutucu, Yumuşak robotik aktüatör

Investigation of the performance of the elastomer-based soft robotic gripper produced by the bubble casting technique

Öz

A soft robotic actuator was produced by the bubble casting technique, which is composed of elastomeric material. Investigations were conducted to determine how the viscosity of the liquid elastomer affected how the robotic actuator bent. The gripper's curvature, response time, and load-carying capacity were measured, and the relation between applied air pressure and these characteristics was examined. Moreover, the effect of environmental factors (dry, wet and oily) on the load-carrying capacity of the gripper was investigated. These findings demonstrate that as applied air pressure is increased, the gripper's response time, curvature, and load-carrying capacity all increase. For all applied pressures, the highest load-carrying capacity of the gripper was observed in a dry environment. The grippers load-carrying capacity in a dry environment was approximately 2.5 g, 3.5 g, and 5.9 g at pressures of 30 kPa, 35 kPa, and 40 kPa, respectively. By altering the waiting time, the elastomer's viscosity could be managed. The ideal waiting time was found to be between 3 and 4 minutes for optimal bending performance. If the soft robotic gripper is improved to achieve greater performance, it will be suitable for real-world applications.

Anahtar Kelimeler

Bubble casting technique, Elastomer, Performance, Soft robotic gripper, Soft robotic actuator

Kaynakça

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