Modulární koncepce servisních robotů

Abstract

Dissertation thesis focused on an application and an advancement of the modularity principles in the development of service robots. The concept of modularity has been applied to the emergency fire-fighting robot HARDY, which forms a pilot configuration of a modular robotic platform in service robotics. The aim of the development of the modular robotic platform is the ability to change quickly the configuration of kinematic structures and required emergency technology according to current needs of the intervention. The modular platform is characterized by a range of innovative solutions. It consists of two-level modules - primary and secondary modules (sub-modules). Portfolio of the unique modular platform is open and could be expanded as required by new specific modules or new dimensional types of existing modules. The conclusion of the thesis is devoted to the additional platform modules´ design. Industrial robot manipulators have usually to fulfil high demands on the construction stiffness, continuousness of movement of the end-point and repeatable positioning accuracy. Service robot manipulators, especially those mobile ones, do not usually require such high stiffness and accuracy, but because of the limited energy resources one of the parameters in view is the energy intensity of drives i.e. of the handling module and all other appliances, especially travel drives. When developing these top devices, designers usually have to solve - besides general problems, such as what methodology to use so that the development from determining the concept to the final product runs efficiently and in the shortest possible time - also the optimizing of the construction in terms of energy consumption. As a part of the dissertation thesis, considerable attention has been devoted to determining the methodology of preliminary design of the service robots´ handling modules and their optimization in terms of energy consumption. The mentioned methodology results from a defined continuous mathematical model which operates with parameters of the real drives and whose coefficients enter into the algorithms of optimization calculations. They monitor the reciprocal connection between dimensional parameters of the arms´ profiles, their length, weight of the drives and their impact on energy consumption and the total weight of the handling module. The developed methodology represents three different optimization procedures of the preliminary design of the handling modules and the designer chooses the most suitable one based on known parameters at the beginning of the design. Functionality of the optimization tools have been verified in the process of developing the handling module of the modular service robot HARDY. It has been turned out in practice that the methodology of the preliminary design of the handling module is a powerful tool for the designer, by which he could at the first iteration of the design and in a very short time get the specific parameters which can be very close to the final solution. The development period of the complicated robotic manipulators can be significantly shortened in this way.