Efektory modulárního manipulátoru a jejich automatická výměna

Abstract

Master thesis deals with design of grippers and their automatic change system for a modular manipulator. There are three main parts, which create a unit for automatic change system. It is automatic change system, which ensures change of gripper, grippers themselves and then storage system, where grippers are stored. At the beginning of the master thesis a detailed research of those three parts is given. In regard with the list of demands an each option is designed and the best option is chosen. One option for a change system, storage system for grippers and several options for grippers are designed. Those options are developed to detailed 3D models. In regard of calculations servo motors are designed and chosen as well as other electronics parts. The master thesis includes stress analysis of fasteners and parts in the critical parts of system. Technical drawings are included as well.