Haptické zařízení pro ovládání manipulačního ramene robotu

Abstract

Bachelor thesis deals with construction of control mechanism of mobile robot Hardy. The introduction contains a search for available haptic systems. Controller’s requirements were also specified. In the next part, optimal sensors and hardware for its signal transmission were selected. Based on the findings, three versions of controller were designed. Value analysis was used to determine the optimal version, which was developed into the mobile control pack. Special attention was paid to cable path design and overall design. In the last part, appropriate springs of the balance apparatus were selected and stress analysis was applied to a plastic cover of the mechanism. Assembly drawings of the mobile pack and the manipulating arm are available in the appendix.