Konstrukce paralelního manipulátoru se čtyřmi stupni volnosti

Abstract

Diploma thesis deals with design and realization of small scale parallel robot. In the beginning of work are introduced various possible kinematic structures and usable drives. Following is description of the robot creation process, from first CAD concepts, through description of manufactured parts up to creation and programming of a control system. Throughout whole thesis emphasis is taken on comparing the theory with practical results, identification of problems and proposals of their solution. Output of diploma thesis is the realized robot, its description and necessary documentation.