Vývoj mechanického efektoru s využitím 3D tisku a topologické optimalizace

Abstract

This bachelor’s thesis addresses the development, manufacturing, and topological optimization of a prototype mechanical gripping end effector utilizing 3D printing and topology optimization techniques. The introductory section provides a theoretical overview of robotics, additive manufacturing technologies, and topology optimization, with particular emphasis on the methods applied during the development of the end effector. The practical part is divided into three main sections. The first section focuses on a detailed description of the end effector design process in relation to the specific requirements of the assignment, including the selection of an industrial robot and the technical solution of the effector. The second section describes the actual development, manufacturing, and testing of the prototype. The third section explores the potential for topology optimization of the effector arms, primarily with the aim of reducing their overall weight while preserving the mechanical properties of the original arms produced using conventional manufacturing methods. The conclusion evaluates the achieved results and the contribution of topology optimization.