Design and making a robot's gripper

U sklopu završnog rada bilo je potrebno konstruirati i izraditi robotsku prihvatnicu proizvodnim postupkom 3D printanja. Uz to, bilo je potrebno provjeriti njezin rad izradom programa za kolaborativni robot Yaskawa HC10DT. U uvodnom dijelu rada dane su teorijske osnove robotike i aditivnih postupaka proizvodnje. Uz to su navedene i ukratko opisane vrste robotskih prihvatnica. Nadalje je proveden proračun kinematike i dinamike robotske prihvatnice za položaj prihvatnice na rubu radnog prostora robota. U kasnijem dijelu rada opisani su konstruirani dijelovi, njihova funkcija, njihova priprema za izradu, kao i postupak programiranja robota izvan radnog okruženja, uz osvrt na industrijska rješenja robotskih prihvatnica. Praktični dio rada obuhvatio je izradu dijelova, njihovu montažu i doradu te provjeru funkcionalnosti prihvatnice i test programa robota. U sklopu završnog rada napravljena je cijelovita tehnička dokumentacija kao i sve popratne datoteke potrebne za izradu konstruirane prihvatnice i ostalih dijelova.The objective of this undergraduate thesis was to design and manufacture robot gripper using 3D printing manufacturing proces. The functionality of the gripper was to be checked by a robot program which was also created as part of this thesis for collaborative robot Yaskawa HC10DT. Basics of robotics and aditive manufacturing processes as well as types of robot grippers are presented in introduction. Furthermore, calculations of velocities, accelerations and forces acting on the gripper in a given point within robot's workspace were made. This undergraduate thesis also contains description of all the parts designed, their function, preparation for manufacturing and offline robot programming. There is a short overview of standard industrial robot grippers too. Experimental part depicts manufacturing of the parts, their assembly and part development, test of gripper's functionality and test of robot program. Technical documentation as well as all the files necessary for design and manufacturing of robot gripper and other parts were created within this undergraduate thesis