20.500.12556/DKUM-91483 Izdelava in aktivacija mehkega hasel aktuatorja magistrsko delo Fabrication and activation of a soft hasel actuator V sklopu magistrskega dela je predstavljena izdelava in aktivacija mehkega peano HASEL aktuatorja. Družina mehkih HASEL aktuatorjev je zanimiva zaradi delovanja podobnega mišicam sesalcev. Te izkazujejo zmožnost: samozaznavanja deformacije, »celjenja«, linearnega pomikanja in ponujajo možnost paralelne uporabe. Tehnologija je navidezno enostavna, vendar zahteva podrobno razumevanje posamičnih bistvenih komponent sistema: telo aktuatorja, elektrode in napajalnega sistema, katerih delovanje je medsebojno odvisno. Tip aktuatorjev je relativna novost na tržišču in se nahaja v fazi razvoja. Natančno modeliranje (dimenzioniranje) sistema zaradi več nedoločenih spremenljivk ni mogoče. Izdelava v praksi zahteva uporabo številnih naprednih materialov in proizvodnih tehnik, ki so težko dostopne. V sklopu naloge sem preko enostavnega geometrijskega modela določil bistvene lastnosti vsake komponente peano HASEL aktuatorja. Na osnovi natančnega poznavanja delovanja sistema, sem izbral dostopne materiale in proizvodne tehnike, na osnovi katerih sem izdelal delujoči aktuator. As part of my master's thesis, the fabrication and activation of a soft peano HASEL actuator is presented. Soft HASEL actuators are intriguing due to their muscle-like behavior, similar to mammalian muscles. These actuators are capable of self-sensing deformation, »healing« abilities, linear motion and offer the possibility of parallel operation. The technology appears straightforward, but it requires detailed understanding of the essential individual system components: the actuator body, electrodes and the power supply, all of which are interdependent. This type of soft actuator is relative novelty on the market, thus it is still in the developmental phase. Accurate system modeling (dimensioning) is not possible due to several undetermined variables. Fabrication requires the use of many advanced materials and manufacturing techniques, which are challenging to obtain. During the process a simple geometry based model was used to determine the key properties of each component of the peano HASEL actuators. Based on a thorough understanding of the system’s operation, accessible materials and manufacturing techniques were selected, with which I successfully created a functional actuator. izdelava aktivacija HASEL aktuator umetna mišica fabrication activation HASEL actuator artificial muscle true true false [M. Ciglarič] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2025-01-07 12:09:56 2025-02-13 12:18:26 2025-02-19 03:08:30 0000-00-00 00:00:00 2024 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XIII, 70 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.587(043.2) 226430211 MAG_Ciglaric_Miha_2025.pdf MAG_Ciglaric_Miha_2025.pdf 1 7BD38057035CC23326F89A5D3F588710 dbe6aaff49aed7620772474d9170b9b2709a945e5c1e4279fc4e5208f4f3a117 109f8795-e98e-11ef-8fb5-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=188628 Fakulteta za strojništvo 0 0 0