Návrh a simulace robota pro kreslení na stěnu

Abstract

The master thesis deals with the design and simulation of a cable-driven robot intended for drawing and erasing on a vertical wall, including the design of a control application for operation based on digital templates. The initial part provides research on existing solutions and an analysis of the Polargraph robot principle. Based on the defined goals, service scenario, and requirements list, variants for the locomotion system design were proposed, and the optimal concept was selected using multi-criteria analysis. The work further addresses the detailed structural design of the robot's mechanical subsystems. Concurrently, key hardware components were selected. Part of the work also includes the design of a web-based control application in the Blazor environment. The functionality of the designed system, including control via the application, was verified by simulation in the CoppeliaSim environment. The simulation analysis confirmed the basic concept but also identified potential problems with the robot's stability and tilting. The conclusion of the thesis presents a proposed procedure for the physical implementation of the robot. The main outputs of the thesis are the research results, a description and CAD model of the designed robot, the control application, and the simulation scene.