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Abstract(s)
A indústria é uma atividade económica que se mostra como um pilar e como uma força do desenvolvimento da sociedade. Aliada à sua competitividade interna, a necessidade de criar e adaptar soluções para todo o tipo de problemas vem trazer à indústria uma tendência de crescimento exponencial. Como resposta a esta necessidade e face à vontade de aumentar a automatização e a comunicação dos componentes englobados pela indústria, nasce a Indústria 4.0. Percebendo que o campo da robótica desempenha um papel fundamental na indústria, pois é uma das grandes forças que faz progredir a mesma, é importante notar que as suas aplicações tradicionais padecem de certas limitações que vão contra os ideais da quarta revolução industrial, como flexibilidade, adaptabilidade e dinamismo. Face aos problemas encontrados na robótica clássica, surge uma nova e inovadora abordagem, a soft robotics. Esta nova tecnologia apresenta-se como um novo caminho a adotar em diversas aplicações na indústria. A soft robotics consiste numa abordagem derivada da robótica, mas com a particularidade da utilização de materiais macios nos robôs. É derivado deste contexto que surge o tema da presente dissertação. A abordagem a uma área relativamente recente, como é a soft robotics, apresenta bastantes oportunidades de criação ou inovação de conceitos. Assim, foi proposto o desenvolvimento de uma aplicação em soft robotics, em particular de um manipulador (soft gripper). Este é um mecanismo bastante importante nesta área, que permite o manuseamento de inúmeros objetos, garantindo assim uma alta fluidez, tanto em linhas de produção como noutros ambientes diferentes. Ao perceber que estas características essenciais vão de encontro aos princípios da disciplina da soft robotics, concluiu-se que seria o caminho indicado a seguir. Esta dissertação relata as etapas necessárias à criação e ao desenvolvimento do projeto de um soft gripper distinto e inovador, incorporado num robô antropomórfico colaborativo. Os resultados deste trabalho foram bastante positivos, pois o projeto do equipamento foi concluído, atempadamente, com sucesso, assim como a sua prototipagem, cumprindo com os requisitos impostos.
Industry is an economic activity that is shown as a pillar and as a force for the development of society. Combined with its internal competitiveness, the need to create and adapt solutions to all kinds of problems brings to the industry a trend of exponential growth. Answering to this need, and in view of the desire to increase the automation and communication of the components associated with the industry, Industry 4.0 is born. Realizing that the field of robotics plays a fundamental role in the industry, as it is one of the great forces that enables its progression, it is important to note that its traditional applications suffer from certain limitations, which go against the ideals of the fourth industrial revolution, such as flexibility, adaptation, and dynamism. Faced with the problems encountered in classical robotics, a new and innovative approach, soft robotics, emerges. This new technology presents itself as a new path to adopt in various applications in the industry. Soft robotics is an approach derived from robotics, but with the particularity of using soft materials in robots. It is derived from this context that the subject of this dissertation emerges. The approach to a recent area, as it is soft robotics, presents a lot of opportunities for the creation or innovation of concepts. Thus, the development of an application in soft robotics was proposed, in particular of a soft gripper. This is a very important mechanism in this area, which allows the handling of numerous objects, thus ensuring a high fluidity, both in production lines and in other types of different environments. By understanding that these essential characteristics are within accordance with the principles of the discipline of soft robotics, it was concluded that it would be the right path. This dissertation reports all the necessary steps for the creation and development of the design of a distinct and innovative soft gripper. The results of this work were very positive, because the design of the equipment was completed, in a timely manner, successfully, as well as its prototyping, complying with the requirements imposed.
Industry is an economic activity that is shown as a pillar and as a force for the development of society. Combined with its internal competitiveness, the need to create and adapt solutions to all kinds of problems brings to the industry a trend of exponential growth. Answering to this need, and in view of the desire to increase the automation and communication of the components associated with the industry, Industry 4.0 is born. Realizing that the field of robotics plays a fundamental role in the industry, as it is one of the great forces that enables its progression, it is important to note that its traditional applications suffer from certain limitations, which go against the ideals of the fourth industrial revolution, such as flexibility, adaptation, and dynamism. Faced with the problems encountered in classical robotics, a new and innovative approach, soft robotics, emerges. This new technology presents itself as a new path to adopt in various applications in the industry. Soft robotics is an approach derived from robotics, but with the particularity of using soft materials in robots. It is derived from this context that the subject of this dissertation emerges. The approach to a recent area, as it is soft robotics, presents a lot of opportunities for the creation or innovation of concepts. Thus, the development of an application in soft robotics was proposed, in particular of a soft gripper. This is a very important mechanism in this area, which allows the handling of numerous objects, thus ensuring a high fluidity, both in production lines and in other types of different environments. By understanding that these essential characteristics are within accordance with the principles of the discipline of soft robotics, it was concluded that it would be the right path. This dissertation reports all the necessary steps for the creation and development of the design of a distinct and innovative soft gripper. The results of this work were very positive, because the design of the equipment was completed, in a timely manner, successfully, as well as its prototyping, complying with the requirements imposed.
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Keywords
Indústria 4.0 Soft robotics Gripper Fabrico aditivo Projeto mecânico Industry 4.0 Additive manufacturing Mechanical design