Inovace a vývoj periferních zařízení robotů a manipulátorů pro aplikace v oblasti bezpečnosti a ochrany obyvatel a záchranných systémů

Abstract

The presented dissertation focuses on innovation and development in omnidirectional wheels with the aim to meet the defined limit parameters concerning the rolling comfort with the subsequent options for implementing in equipment used for transporting persons in hospitals and similar institutions. The aim of the development is to create a flexible tool in the form of a preliminary design methodology and dimension parameters of the omnidirectional wheel shown in skeletons of individual components designed according to the defined input values and application scenario. The character of the preliminary design input values considers the wide range of potential applications and size categories of omnidirectional wheels and the input parameters are dictated by the values defined in the initial stage, as well as internal connections in the omnidirectional wheel design. The output values of the preliminary design parameters for the omnidirectional wheel are subsequently tested in an experiment using a specific geometry with dimensions suitable for the intended transport systems. Behaviour of the designed structure concerning the rolling comfort is verified in a series of testing steps with an output consisting of a record of acceleration values for the occurring vibration. The created methodology for designing omnidirectional wheels is a powerful tool allowing design engineers to obtain specific parameters that may be very close to the final design in the first design stage and within a very short time.