Construction of Effector for Sampling Liquid

Abstract

Thesis is dealing sampling contamination liquid. Main idea is combine microtechnology techniques with ordinary sampling methods into one end effector. In the first part of thesis are schematically shown all possible structures of sampling system. Than different kind of convenient actuators for sampling task are presented and according comparison matrixes are selected three best of them. Topologies of two sampling methods are built up according selected actuators. These two solutions are deeply described and tested in laboratory. In the end of thesis the most convenient solution is chosen and comprehensive concept of service robot with this sampling method is modelled in system Pro/ENGINEER Wildfire 2.0.