| Abstract [eng] |
This study proposes a possibility of producing a fully functional mechanism (comprised of rigid elements, joints and means of propulsion) by a single operation of additive manufacturing. This idea is then reduced to its most basic form – a single actuated, monolithic joint connecting two rigid elements. If such joint is proven viable in terms of performance and ability to adjust performance by design, then the hypothesis of single operation mechanism production would be considered proven. Study is comprised off four parts: 1. Overview of technologies related to compliant and pressure actuated designs; 2. Establishing basic designs based on information found in part one and determining the most potent one of them; 3. Investigating the correlation between joint geometry and joint performance thus establishing design approach; 4. Providing suggestions for the new joint integration into existing technologies and vice versa. It was determined that a compliant joint and inflatable bellow combination was the most effective of the basic designs. Upon further investigation of this design, geometry correlations to performance were established. Inflating bellow thickness and bellow profile length were most responsive, compliant element thickness provided minor adjustments and the perimeter on the bellow was proven relatively inert. Knowing this, a preliminary design, modeled for specific application, could be quickly optimized without extensive testing. It was suggested that any method of applying pressure should be able to power the joint, including different types of fluid flow and even thermal expansion. A compact motion tracking solution was necessary and Hall sensor was accepted as most fitting. |
