Návrh robotického ramene pro kamerovou inspekci pracoviště

Abstract

The diploma thesis deals with the conceptual design of a robotics arm and the subsequent creation of a kinematic and dynamic model of the device. In the beginning of the thesis is an analysis of the current state of the workplace and a search of available components for the design of a robotics arm. Subsequently, a requirement sheet is compiled, according to which the arm concepts are designed and the optimal variant is selected. For this variant, a kinematic model of the device is subsequently created in order to determine the joint variables using the inverse kinematic problem. The next part is the design description of the motion trajectory between two points. Two methods are used for trajectory generation. The first way is a constant velocity trajectory and the second way is trapezoidal velocity trajectory. A dynamic model is also created for the manipulator in order to determine the torque waveforms at the individual joints.