Využití 3D tisku v konstrukci robotů

Abstract

The presented dissertation deals with the use of 3D printing in the design of robots, focusing on the method of Fused Filament Fabrication. It deals with some selected topics associated with the design and implementation of materials that can be further used for the construction of robots. The work deals with testing of glued joints, the influence of annealing of printed samples on their final tensile strength and temperature resistance, water tightness tests and pressure tests. The tested materials are most often PLA and relatively new flexible TPU materials. Part of the work is also the solution of basic problems when printing from flexible materials, namely the design of the own extruder on a printer of the own design and implementation of the purchased special extruder Flexion for printing from flexible materials on the purchased printer Original Prusa I3 MK3S. The work contains a methodology for setting the printing parameters to achieve a waterproof printed sample. Furthermore, the work deals with the use of 3D printing from flexible materials in the design of robots. In this section, two applications are presented, namely the use of printed elastic inserts of the jaws of a collaborative robot to increase the friction force of the jaw and printed adaptive fingers based on the Fin Ray effect for use in soft robotics. Part of the Fin Ray finger testing is the design of a new and simple method for optimizing these fingers in terms of their wrapping around the embossed object. A procedure for simulating these fingers and comparing simulations with real tests on printed fingers is presented. The introductory chapter deals with the most used 3D printing technologies, materials for the Fused Filament Fabrication method, examples of printers for this technology and an example of the use of prints in robotics. In the field of new materials, flexible materials and possible problems associated with them when printing on unmodified desktop printers are described. Furthermore, the goals of the work are set, which are based on current requirements according to a survey of the current state and according to the problems that have arisen in connection with the implemented projects, both at the Department of Robotics and in the own testing and research. The actual part of the own work is divided into individual chapters according to the topics addressed. The conclusion of the work contains an evaluation of the achieved results.