title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð³Ð¸Ð±ÐºÐ¾Ð³Ð¾ ÑÑ Ð²Ð°ÑÐ° Ð´Ð»Ñ ÑÐ°Ð±Ð¾ÑÑ Ñ Ñ ÑÑÐ¿ÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ´Ð¼ÐµÑÐ°Ð¼Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a flexible grip for handling fragile objects
Creators: name: ÐÐµÐ½ÑÐºÐ¸Ð¹, ÐÑÑÐµÐ½Ð¸Ð¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð³Ð¸Ð±ÐºÐ¸Ð¹ ÑÑ Ð²Ð°Ñ
ÑÐ¸ÑÑÑÐµ Ð¿Ð¾Ð¼ÐµÑÐµÐ½Ð¸Ñ
Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¸Ð¸ Ñ Ñ ÑÑÐ¿ÐºÐ¸Ð¼Ð¸ Ð¿ÑÐµÐ´Ð¼ÐµÑÐ°Ð¼Ð¸
ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ñ Ð² Ansys
Ð´Ð°ÑÑÐ¸ÐºÐ¸ Ð¾Ð±ÑÐ°ÑÐ½Ð¾Ð¹ ÑÐ²ÑÐ·Ð¸
Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸Ð·Ð°ÑÐ¸Ñ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½ÑÑ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð²
Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ ÑÑÑÑÐ¾Ð¹ÑÑÐ²
flexible gripper
clean rooms
manipulation of fragile objects
simulation in Ansys
feedback sensors
automation of production processes
design of robotic devices

description: Ð ÑÐ°Ð¼ÐºÐ°Ñ Ð´Ð¸Ð¿Ð»Ð¾Ð¼Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ Ð¸Ð·ÑÑÐµÐ½Ñ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸Ñ Ðº ÑÐ¸ÑÑÑÐ¼ Ð¿Ð¾Ð¼ÐµÑÐµÐ½Ð¸ÑÐ¼. Ð¢Ð°Ðº Ð¶Ðµ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ ÑÐµÑÐµÐ½Ð¸Ñ Ð³Ð¾ÑÐ¾Ð²ÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð² Ð¸ Ð²ÑÑÐ²Ð»ÐµÐ½Ñ Ð¸Ñ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸. ÐÑÐ»Ð¸ Ð½Ð°Ð¹Ð´ÐµÐ½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ ÑÐ¿Ð¾ÑÐ¾Ð±Ñ Ð¸ Ð¼ÐµÑÐ¾Ð´Ñ Ð·Ð°ÑÐ²Ð°ÑÐ° Ð¾Ð±ÑÐµÐºÑÐ¾Ð². ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð±ÑÐ»Ð° Ð¿Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð° Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð°Ñ Ð·Ð°Ð´Ð°ÑÐ°, Ð¾ÑÐ½Ð¾Ð²ÑÐ²Ð°ÑÑÑ Ð½Ð° ÐºÐ¾ÑÐ¾ÑÐ¾Ð¹ Ð±ÑÐ»Ð¸ Ð½Ð°Ð¹Ð´ÐµÐ½Ñ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ñ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¸Ñ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ¸. ÐÐ»Ñ Ð¸Ð·ÑÑÐµÐ½Ð¸Ñ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð° Ð½Ð° Ð¿Ð»Ð¾ÑÐ°Ð´Ñ ÐºÐ¾Ð½ÑÐ°ÐºÑÐ° Ð¸ ÑÐ¸Ð»Ñ Ð·Ð°ÑÐ²Ð°ÑÐ° Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸ Ð² Ansys. Ð¢Ð°Ðº Ð¶Ðµ Ð±ÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð´Ð¾Ð¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½ÑÐµ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸ Ð²ÐºÐ»ÑÑÐ°ÑÑÐ¸Ðµ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¿ÐµÑÐµÐ¼ÑÑÐµÐº Ð² ÑÑÑÐ¾ÐµÐ½Ð¸Ð¸ ÑÑÐ²Ð°ÑÐ°. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð»Ð¸, ÑÑÐ¾ Ð² ÑÐ²ÑÐ·Ð¸ Ñ Ð½ÐµÐ±Ð¾Ð»ÑÑÐ¸Ð¼Ð¸ Ð½Ð°Ð³ÑÑÐ·ÐºÐ°Ð¼Ð¸ Ð½Ð° ÑÑÐ²Ð°Ñ, Ð²Ð»Ð¸ÑÐ½Ð¸Ðµ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð° Ð½ÐµÐ·Ð½Ð°ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾, Ð° Ð²Ð¾Ñ ÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ°ÑÐ¸Ñ ÑÑÐ²Ð°ÑÐ° Ð½Ð°Ð¾Ð±Ð¾ÑÐ¾Ñ Ð¸Ð³ÑÐ°ÐµÑ Ð±Ð¾Ð»ÑÑÑÑ ÑÐ¾Ð»Ñ. Ð£Ð³Ð¾Ð» Ð² 60Â°, Ð¾ÐºÐ°Ð·Ð°Ð»ÑÑ Ð½Ð°Ð¸Ð»ÑÑÑÐ¸Ð¼ Ð´Ð»Ñ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¿ÐµÑÐµÐ¼ÑÑÐµÐº. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð¹ ÐºÐ¾Ð½ÑÐ¸Ð³ÑÑÐ°ÑÐ¸Ð¸ Ð±ÑÐ»Ð° Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð° ÑÐ¿ÑÐ¾ÑÑÐ½Ð½Ð°Ñ 3D Ð¼Ð¾Ð´ÐµÐ»Ñ Ð´Ð»Ñ Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð·Ð°ÑÐ²Ð°ÑÐ°. ÐÑÐ» Ð½Ð°Ð¹Ð´ÐµÐ½ ÐºÐ¾Ð¶ÑÑ, ÐºÐ¾ÑÐ¾ÑÑÐ¹ ÑÐ»ÑÑÑÐ°ÐµÑ Ð·Ð°ÑÐ¸ÑÑ ÑÐ¸ÑÑÐ¾Ð³Ð¾ Ð¿Ð¾Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð¾Ñ ÑÐ°ÑÑÐ¸Ñ Ð¿ÑÐ¸Ð¼ÐµÑÐ½Ð¾ Ð² 1000 ÑÐ°Ð·. ÐÐ»Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾Ð±ÑÐ°ÑÐ½Ð¾Ð¹ ÑÐ²ÑÐ·Ð¸ Ð±ÑÐ»Ð¸ Ð¿Ð¾Ð´Ð¾Ð±ÑÐ°Ð½Ñ ÑÐ¿ÐµÑÐ¸Ð°Ð»ÑÐ½ÑÐµ Ð´Ð°ÑÑÐ¸ÐºÐ¸. Ð Ð±ÑÐ´ÑÑÐµÐ¼ Ð´Ð»Ñ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð¿Ð»Ð°Ð½Ð¸ÑÑÐµÑÑÑ, Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ ÑÐµÐ°Ð»ÑÐ½ÑÑ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð², Ð¿Ð¾Ð´Ð¾Ð±Ð½ÑÑ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸ÑÐ¼, Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ JamSheet Ð¸ Ð¾ÑÐµÐ½ÐºÐ° ÑÐ°Ð±Ð¾ÑÑ ÑÑÐ²Ð°ÑÐ° Ð² Ð¿Ð¾Ð»Ð½Ð¾Ð¼ Ð²Ð¸Ð´Ðµ.
description: As part of the diploma thesis the requirements for cleanrooms were studied. So, the existing solutions of off-the-shelf manipulators were examined, and their advantages and disadvantages were identified. Various ways and methods of grasping objects were found. Based on the analysis, a more precise task was set, based on which materials as well as their characteristics were found. To study the effect of material on the contact area and gripping force, simulations were carried out in Ansys. Additional simulations were also carried out to include different positions of lintels in the grip structure. The results showed that due to the low grip loads, the material influence is negligible, while the grip configuration plays a major role. An angle of 60Â° was found to be the best for the position of the lintels. Based on the selected configuration, a simplified 3D model was built to visualize the grip. A shroud was found to improve the particle protection of the cleanroom by about 1000 times. Special sensors were selected for the feedback system. In the future for this work it is planned, to conduct real experiments similar to simulations, to implement JamSheet system and to evaluate the performance of the gripper in its full form.