Návrh efektoru pro úlohu kreslení robotem

Abstract

The bachelor thesis deals with the design of an effector intended for robot drawing task. The introduction includes an analysis of the implemented task of drawing by a robot, including the effector that was created for this task. Then, research for writing effectors is described. Next, the problems of the preceding effector are specified. Based on the solution of these problems, a new effector is designed, and its 3D model is created. The effector is then implemented. Considering the use of graphite lead in the effector, a mechanism is designed to eject this lead. This ejection is then automated using the UR3 robot. Subsequently, the functionality of the constructed effector is verified, including the calibration routine that ejects the lead. The output of the work is a 3D model, the realized effector, and the robot program. At the end of the thesis, an analysis of the effect of the contact force on the saturation of the drawn line is performed.