Konstrukční návrh posledního článku manipulátoru MR Hercules a optimalizace jeho pohonné jednotky

Abstract

The thesis is focused on the last segment of mobile robot manipulator Hercules. At the beginning of this work is developed research on the topic of guidance system effectors. To address the last article of the manipulator with adding one degree of freedom, is constructed 3D model of the three options in the software Pro / ENGINNER to support design. Next best option is chosen, which is structurally elaborated and supported by the necessary calculations and drawings. The conclusion is the recommended limit set for a mobile robot with the proposed Hercules last link manipulator.