Konstrukční návrh kompaktního robotického ramena

Abstract

This bachelor thesis deals with the design and implementation of a compact six-axis robotic arm with a serial kinematic structure. The aim of the thesis was to develop a functional prototype intended for demonstration and educational purposes, with an emphasis on small dimensions, low weight, accessible manufacturing technologies, and the possibility of control in the ROS2 environment. The introductory part presents an analysis of existing compact robotic arms, based on which the requirements for the proposed design are defined. The following sections describe the design of the mechanical structure, electronics, control software, and digital twin.

The mechanical structure of the robotic arm consists mainly of 3D-printed parts supplemented with metal and standardized components. Stepper motors are used to drive the individual axes, together with transmission mechanisms designed according to the load and spatial requirements of each axis. The control system is based on a Raspberry Pi 5 single-board computer and a custom control board with ESP32-S3 microcontrollers. The software uses ROS2 Jazzy, ros2_control, MoveIt2, and a generated IKFast solver for inverse kinematics and trajectory planning. The solution also includes control and visualization in RViz, which serves as a digital twin of the robotic arm.

The result of the thesis is a functional prototype of a six-axis robotic arm with a reach of 310 mm, a weight of 2,550 g, a payload of 100 g, and a reliable motion speed of up to 0.1 m/s. Verification showed that the robotic arm is capable of basic controlled motion, trajectory planning, and visualization of its actual state in the digital twin. The proposed solution combines a compact structure, low cost, and advanced control in the ROS2 environment. The main limitation is the accuracy of some transmission mechanisms manufactured using 3D printing, especially the worm gear of the fifth axis.