Razvoj adaptivnog gipkog sistema za upravljanje oblikom radne površine
Metapodaci
Prikaz svih podataka o disertacijiSažetak
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 obtai...ned 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.