Využití pružných materiálů v robotice

Abstract

The dissertation focuses on experimental research into the use of flexible materials in the construction of robotic systems, with a particular emphasis on 3D printing and casting technologies. The introductory section of the thesis is devoted to the basic types of elastomers and their chemical and mechanical properties. This is followed by a description of the manufacturing technologies used for processing flexible materials. From traditional methods such as injection molding, casting, and pressing to more modern approaches such as 3D printing. The remaining sections of the thesis are devoted to individual research objectives. In particular, the creation of methodologies for processing flexible materials using 3D printing and casting technologies, the analysis of possibilities for combining rigid and flexible materials, and the development of functional components that can be used in robotic applications. The experimental section is structured according to the technologies used. First, the methodology of printing from TPU material is described, including parameter optimization, geometric design principles, and mechanical testing of prints. This is followed by the design and verification of the process of casting silicone parts into printed molds, including solutions to related problems. Furthermore, the thesis describes two examples of structural elements combining rigid and flexible materials. An airless lamellar tire with passive shock absorption for a mobile robotic platform and a silicone nozzle insert with a variable outlet diameter for robotic 3D printing of plastics. Overall, the thesis provides a number of insights and methodological procedures that enable more efficient use of flexible materials, not only in robotics.