Prototype modeling of a robotic arm

Zadatak ovog diplomskog rada je modeliranje robotske ruke sa šest stupnjeva slobode gibanja, optimiranje dobivenog modela primjenom generativnog dizajna te priprema modela za proizvodnju odabranom aditivnom tehnologijom. U samom početku procesa prototipnog modeliranja definirana su dva glavna cilja koje robotska ruka mora zadovoljavati, dakle nosivost i cijena koštanja. Prilikom modeliranja fokus je stavljen na kriterije funkcionalnosti, pristupačnosti i estetike. Radi boljeg razumijevanja odabira idejnih rješenja tokom cjelokupnog procesa u radu će se najprije pobliže razmotriti mogućnosti i ograničenja aditivnih tehnologija i generativnog dizajna. Nakon čega slijedi pregled ustaljenih konfiguracija i izvedbi robotskih ruku, vrsta primjenjivanih pogon te prijenosnika snage i gibanja. Model robotske ruke dizajnirat će se u Solidworks-u, a mogućnosti optimizacije generativnim dizajnom prikazat će se u programima Inspire i nTpology. Za konačan model robotske ruke izradit će se priprema za 3D ispis u programu ideaMaker te analiza cijene izrade finalnog modela.The goal of this thesis is to prototype a model of a robotic arm with six degrees of freedom, optimize the model by applying generative design approach and tools and to prepare it for production with the selected additive technology method. At the very beginning two main criteria are defined, load capacity and price. During the modeling the focus is given to functionality, accessibility and aesthetics. To better understand the choices that were made throughout whole prototyping process, firstly, a closer look at possibilities and limitations of additive technologies and generative design is given. This is followed by an overview of the established configurations and designs of robotic arms, as well as the types of drives and transmissions being used. Prototype model of a robotic arm will be designed using Solidworks and generative design optimisation will be applied using Inspire and nTopology. For the final model the preparation for 3D printing using ideaMaker slicer will be made and the analysis for the production cost will be given