Efektor se třemi stupni volnosti

Abstract

In this Diploma Thesis I deal with Structural Design of Effector with Three Degrees of Freedom manipulator arm, the robot Hercules. Introduction is focused on the kinematic and dynamic analysis of arm. Based on these analyses, I elaborate the Request Sheet. On this Request´s Sheet are based alternatives solutions. With the objective analysis, I choose the optimal solution. This solution I worked out in detail. The cornerstone is a 3D model of optimal variant, developed in Creo Parametric 2.0. Part of work is of a complete technical documentation.