In the realm of robotics, the design of lightweight and robust end-effectors is crucial for enhancing performance. This study investigates the mechanical properties of different 2D lattice structures in profile rods for vacuum grippers, utilizing carbon fiber-reinforced poly-lactic acid (PLA-CF) composites. Employing advanced 3D printing techniques, we compared four lattice designs—Solid, Regular Hexagon, Triangular Grid, and Square Grid—through comprehensive mechanical testing including flexural strength, surface roughness, and porosity analysis. Results reveal that the solid lattice structure exhibits superior strength and strength-to-weight ratio, attributed to its continuous material. Among lattice designs, the Triangular Grid lattice demonstrated the highest mechanical performance, with better load distribution compared to the Square Grid and Regular Hexagon structures. Surface and microstructural analyses indicated smoother surfaces for Solid and Square Grid lattices, enhancing their mechanical properties. The study highlights that higher porosity in lattice structures correlates with reduced strength, with porosity percentages measured at 38.04% for Regular Hexagon, 37.18% for Square Grid, and 35.28% for Triangular Grid. These findings underscore the trade-offs between material efficiency and strength, offering key insights for optimizing robotic end-effector designs in practical applications. Future research should focus on balancing these factors to achieve enhanced functionality and performance in 3D-printed components.