Manipulation subsystem of Hercules mobile robot

Abstract

The article describes a manipulation subsystem for the mobile robot HERCULES. The manipulator was designed and realized on the Department of robotics as a part of the MPO project “VÝZKUM A VÝVOJ SPECIÁLNÍHO VÍCEÚČELOVÉHO ZÁSAHOVÉHO VOZIDLA“ with registration number FT-TA3/014 at which we participated. In the article is described the drive unit which was designed for the joints of the manipulator. Further is described methodology of functional tests which were done for verification of functional parameters and their comparison with parameters obtained from simulations on virtual prototypes.