Návrh lanového mechanismu pro použití v continuum robotice

Abstract

The bachelor's thesis deals with the design of a cable mechanism for application in continuum robotics. The introduction focuses on entering the issue and establishing the objectives of the work. Subsequently, a survey of the state and trend in the robotics continuum is processed, on the basis of which a request sheet is created. Then the four arms of the continuum robot are designed. By means of a multi-criteria analysis, the range of designs is narrowed down to two arm variants, the functionality of which is verified on real prototypes. The data obtained from the testing are used to select the optimal arm of the continuum robot. With regard to its parameters, two conceptual variants of the continuum robot's drive units are designed, which are compared by multi-criteria analysis, with the help of which a more suitable variant is selected. This is followed by the assembly of the arm and drive unit into a complete assembly. After that, check calculations are performed. The next chapter focuses on the electronics and circuit diagram of the continuum robot. The conclusion of the work summarizes and evaluates the achieved results. It also deals with proposals for future research and development with a possible follow-up to this work.