Tvorba knihovny 3D modelů pro modulární manipulátory

Abstract

This bachelor's thesis deals with optimizing the design process and efficient management of technical data in the field of modular robotics, specifically for serial robotic arms. The main output of the thesis is the creation of a centralized MS Excel database, which serves as the main node for managing the parameters of the included modules. These data are linked to simplified 3D models in PTC Creo Parametric and their update process is largely automated based on changes in module geometry. The proposed solution significantly simplifies and accelerates the calculation of statics and dynamics of robotic assemblies by eliminating the manual searching of physical properties. The thesis also improves the creation of robotic assemblies by introducing unified input and output coordinate systems in 3D models, enabling error-free and rapid assembly into complex units. Lastly, the system allows for the automated generation of a URDF file which, together with simplified STL models, is directly prepared for visualization and basic simulation of the designed robotic structures without assigned physical properties.