Návrh programovatelného manipulátoru pro montážní výrobní linky.

Abstract

The thesis is oriented of design construction of the manipulator for handling and assembly applications. At the beginning is drawn up the analysis of influence kinematic structure and possibility of position control of servo-drive through the use of PLC. On the basis of acquired information are proposed three alternative of solutions which are under multicriterial reviews to select an optimal alternative. On the basis of optimal alternative is designed the manipulator with four DOF and with parallel kinematic structure. Has been further elaborated inverse theme for mentioned manipulator. In conclusion is proposed the possibility of manipulator control through the use of PLC and related problems.