Demonstrační aplikace mechanismu s uzavřenou kinematikou.

Abstract

The master's thesis deals with the process of designing and physically implementing a demonstration workstation intended for a Pick & Place manipulation task. The introductory research focuses on spatial closed-loop mechanisms based on the principle of the Bennett mechanism as an efficient alternative to serial manipulators. Based on the outcomes of the theoretical analysis and the specified boundary conditions, a requirement list is created defining the system’s limiting parameters. Using the TMM methodology, the system architecture is designed, followed by a structural design integrating 3D-printed parts, belt conveyors, and sensors. The thesis includes the design of servomotor control algorithms for performing the manipulation operation, as well as strength and numerical analyses of selected components. The final part of the thesis is devoted to the physical realization, software commissioning, and proposals for further system expansion, along with an overall evaluation of the achieved results. More detailed procedures are documented in the appendices.