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Authors
Abstract(s)
O uso de garras robóticas macias na automação industrial, especialmente no setor
agroindustrial e alimentar, tem sido essencial para o manuseamento seguro e eficiente
de produtos delicados, como frutas.
O principal objetivo da dissertação consiste no desenvolvimento de dedos robóticos
macios, otimizados para a manipulação de frutos delicados. A investigação inclui um
estudo experimental e análise literária para a caracterização de materiais, em particular
de poliuretano termoplástico, TPU 60A e TPU 95A, para a realização de ensaios de
tração. Foram também realizadas simulações numéricas, cujo erro relativo da
comparação com resultados experimentais rondou 1% e R2=0,99, e produzidos
protótipos impressos por fabrico aditivo, visando melhorar o design das garras e garantir
o seu desempenho e resistência, com aplicação potencial em outros setores industriais.
As simulações computacionais foram realizadas no software Ansys para avaliar três
modelos de garras, Straight, Constant Curve e Beak, com foco em tensões, deformações
e forças de reação. Embora o modelo Straight se tenha destacado nas simulações, nos
testes práticos o modelo Beak apresentou maior desempenho, com melhor distribuição
de tensões e maior força de preensão, sendo mais adequado para o manuseamento de
frutos. Os ensaios experimentais mostraram que o TPU 60A é mais flexível e adequado
para o manuseamento delicado, enquanto o TPU 95A, por ser mais rígido, não é
adequados para frutos. Por fim, é concluído que o TPU 60A é o mais indicado para o
desenvolvimento de garras robóticas macias dirigidas ao manuseamento de produtos
sensíveis.
A impressão 3D de garras macias para o manuseamento de produtos sensíveis, como
frutos, oferece vantagens como a personalização geométrica para ajustes de preensão e
assim, evitar danos, além de uma rápida produção com designs específicos. Esta
tecnologia também se expande para outras áreas onde seja essencial um controlo
delicado. Assim, o fabrico aditivo melhora o manuseamento de produtos frágeis e
delicados, abrindo novas possibilidades em diferentes setores tecnológicos.
The use of soft robotic grippers in industrial automation, especially in the agro-industrial and food sector, has been essential for the safe and efficient handling of delicate products such as fruit. The main aim of the dissertation is to develop soft robotic fingers optimised for handling delicate fruit. The research includes an experimental study to characterise the materials and literature review, in particular thermoplastic polyurethane, TPU 60A and TPU95A, to carry out tensile tests. Numerical simulations were also carried out, whose relative error in comparison with experimental results was around 1% and R2=0.99, and printed prototypes were produced by additive manufacturing, with the aim of improving the design of the grips and guaranteeing their performance and resistance, with potential application in other industrial sectors. Computer simulations were carried out using Ansys software to evaluate three models of gripper, Straight, Constant Curve and Beak, focusing on stresses, deformations and reaction forces. Although the Straight model stood out in the simulations, in the practical tests the Beak model performed better, with a better distribution of stresses and greater gripping force, making it more suitable for handling fruit. The experimental tests showed that TPU 60A is more flexible and suitable for delicate handling, while TPU 95A, being more rigid, is not suitable for fruit. Finally, it is concluded that TPU 60A is the most suitable for developing soft robotic grippers for handling sensitive products. The 3D printing of soft grippers for handling sensitive products such as fruit offers advantages such as geometric customisation for gripping adjustments and thus avoiding damage, as well as rapid production with specific designs. This technology also extends to other areas where delicate control is essential. Thus, additive manufacturing improves the handling of fragile and delicate products, opening new possibilities in different technological sectors.
The use of soft robotic grippers in industrial automation, especially in the agro-industrial and food sector, has been essential for the safe and efficient handling of delicate products such as fruit. The main aim of the dissertation is to develop soft robotic fingers optimised for handling delicate fruit. The research includes an experimental study to characterise the materials and literature review, in particular thermoplastic polyurethane, TPU 60A and TPU95A, to carry out tensile tests. Numerical simulations were also carried out, whose relative error in comparison with experimental results was around 1% and R2=0.99, and printed prototypes were produced by additive manufacturing, with the aim of improving the design of the grips and guaranteeing their performance and resistance, with potential application in other industrial sectors. Computer simulations were carried out using Ansys software to evaluate three models of gripper, Straight, Constant Curve and Beak, focusing on stresses, deformations and reaction forces. Although the Straight model stood out in the simulations, in the practical tests the Beak model performed better, with a better distribution of stresses and greater gripping force, making it more suitable for handling fruit. The experimental tests showed that TPU 60A is more flexible and suitable for delicate handling, while TPU 95A, being more rigid, is not suitable for fruit. Finally, it is concluded that TPU 60A is the most suitable for developing soft robotic grippers for handling sensitive products. The 3D printing of soft grippers for handling sensitive products such as fruit offers advantages such as geometric customisation for gripping adjustments and thus avoiding damage, as well as rapid production with specific designs. This technology also extends to other areas where delicate control is essential. Thus, additive manufacturing improves the handling of fragile and delicate products, opening new possibilities in different technological sectors.
Description
Keywords
Garras Robóticas Macias Manipulação De Frutos E Produtos Delicados Impressão 3d Tpu 60a E Tpu 95a Simulações Computacionais Fea Fre Cad Ensaios De Tração Elastómeros