Návrh bezpečného uchopovacího efektoru pro pracoviště se spolupracujícím robotem

Abstract

The bachelor thesis deals with the mechanical design of a safe two-jaw gripper for a workplace with a collaborative UR3 robot. In the first two chapters, a research is performed in the field of collaborative robotics and collaborative grippers, then analysis of the market with collaborative effectors is carried out. Based on research and the analysis of market, the requirement list was compiled. After that, 3 different solution concepts, based on requirement list, were introduced. One of the introduced solution concepts was chosen and was elaborated in detail. The chapter with detailed processing of the gripper describes how the gripper works, then the thesis deals with design calculations, from which the components of the gripper are selected. In the final part of the design there is a graph of gripping force and the parameters of the gripper are written in a table. The gripper was also processed in the form of a 3D model in the CAD program Creo Parametric 7.0.0.0. and an assembly procedure was designed.