Analýza a optimalizace modulárního manipulátoru pro mobilní robot

Abstract

Thesis deals with the analysis and optimization of a modular manipulator that is intended to be used in combination with a mobile robot. In the theoretical part the manipulators of mobile robots are described according to their use. Further, the overview of available modular drive units is given including their basic specifications. In another part of the theses the current state of the modular manipulator consisted of the Schunk company drive units is analysed. The experiment for stating a moment constant of the mentioned drive units is than carried out. On the basis of the experiment results a model of the manipulator is created and optimized in the Creo 2 program. From all of the created variants the optimal one is selected.