Razvoj adaptivnog gipkog sistema za upravljanje oblikom radne površine

Abstract

This dissertation presents the new solution of adaptive compliant system i.e. adaptive compliant structure with embedded actuators and sensors that is capable of changing its shape on demand. By embedding actuators and sensors within the compliant mechanism structure, the system can realize both sensing (via sensors) and appropriate response (via actuators and internal structure) to the unknown external environment, thus making the system adaptive - ˝intelligent˝. In dissertation a computer-coded algorithm for the synthesis of the adaptive shape morphing compliant system is developed, where placement of actuators (type, orientation, size and location) is also included in the synthesise process. It is shown that obtained solution of adaptive compliant system can achieve multiple shapes of its output surface with tree embedded actuators; by using combination of different active actuators compliant system can realize more complex shapes of its output surface. Based on the obtained solution, the 3D model of adaptive compliant system with embedded actuators is designed. The nonlinear FEM simulations are performed to investigate the behaviour of the developed compliant system. The physical prototype of the adaptive shape morphing compliant structure with embedded actuators is manufactured as one monolithic structure and tested. Two possible applications of the developed compliant system are presented, for the adaptive compliant gripper and the shape morphing wing. The actuators and sensors that can easily be embedded within the complaint system structure are developed. Actuators are developed by using shape memory alloy wires, and sensors were developed by using conductive foam that can change its electrical resistance when deformed. The adaptive compliant system with embedded nitinol wire actuators and conductive foam sensors is tested, and it is shown that such compliant system can achieve multiple shapes of its output surface. The developed adaptive compliant system with embedded nitinol wire actuators and conductive foam sensors and with controller (which was also developed) represents highly embedded mechantronical system which has many advantages over existing solution of shape morphing structure.