Polohování objektu ve 3D prostoru pomocí paralelního lanového robota
| Autor: | Rajnoha, Andrej |
|---|---|
| Jazyk: | čeština |
| Rok vydání: | 2016 |
| Předmět: |
sériová a paralelní kinematika
paralelní robotika serial and parallel kinematic paralelní manipulátor parallel robotics B&R Automation polohování objektu parallel manipulator šest stupňů volnosti direct and inverse kinematic Automation Studio V4 přímá a inverzní transformace lanový paralelní robot object positioning six degrees of freedom cable-driven parallel robot |
| Druh dokumentu: | masterThesis |
| Popis: | At the beginning of this master’s thesis the definition of types of robots using parallel kinematics are presented, its possibilities of usage and current prototypes are described. The second chapter focuses on the proposal of robot construction and sizing electric and non-electric components of robot hardware. Derivation of direct and inverse transform mechanisms with creating flowcharts of their algorithms are stated in the two following chapters. The state machine controlled from user interface is then programmed based on these flowcharts. At the end of the work, cable-driven robot positioning accuracy is evaluated and platform workspace, together with motion and electric parameters, are measured. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
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