Mehanska rešitev za zmanjšanje trenja v Bovden potegu nosljivega robota

Bovden poteg je pogosto uporabljen za prenos sil pri nosljivih robotih. Slaba stran takega prenosa je trenje, ki se pojavi ob njegovem upogibu. Z namenom zmanjšanja tega trenja smo razvili model, ki je opisan tekom diplomske naloge. S primerjavo meritev z in brez mehanske izboljšave smo ugotovili, da lahko z uporabo majhnih škripcev za preusmeritev Bovden potega opazno zmanjšamo silo trenja. Bowden cables are often used for transferring forces of wearable robots. The downside of such transfer is friction that appears upon bending of Bowden cables. We have developed a model to counteract such friction and have discussed it throughout this thesis. By comparing measurements with and without the mechanical solution we have determined, that when using pulleys to change the position of the Bowden cable, the friction force has been significantly reduced.