Řízení netradičních manipulačních mechanizmů

Abstract

This thesis is focused on the design and realization of innovative handling mechanism. Cranes are widely used in all areas of industry and construction. The first part contains an analysis of current types of cranes and handling mechanisms including various robots. The second part deals with the construction of unusual handling mechanism, which can handle loads in its workspace. To the supporting structure are mounted four drive systems with coiling ropes, which allow to operate generally quadrangular ground plan space without using additional components. The device is controlled by the computer using vector calculus mathematics. Individual positions are determined by the specified points in 3D space and trajectory of motion is composed of straight line segments. Model construction achieves a theoretical accuracy to ± 0,15 mm.