Efektor s posuvnými úchopnými prvky

Abstract

The Bachelor thesis deals with the design of an Effector with sliding gripping elements for the existing manipulator of the mobile service robot K3P4. This K3P4 mobile service robot is a long-term project of the RoverOva team, which has been participating in the international competition named European Rover Challenge, every year since 2018. In the introduction I made research of the current state of the effector, which is used for maintenance task, as well as the effectors of the teams that participated in the ERC2021 competition and parallel effectors for industrial robots from two manufactures. A requirement sheet and three variants of the end effector design solution were created, from which the winning variant was selected by comparing the properties of individual variants. The winning variant was then developed into a detailed 3D model and supplemented with an inspection calculation and drawing documentation.