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The Study of Controllers for Four-legged Walking Robots
Klvaňa, Roman ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This work is based on literary search and is focused on description of various approaches in walking gait generation for four-legged walking robots. There are six various groups of aprroaches described in this thesis. Main functional principles as well as one representative robot of each approach is described. The summarize of advantages and disadvanteges of each approach is used to apoint an appropriate control approach for robot Quasimodo walking gait generation in the conclusion chapter of this bachleor thesis.
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Design of explorative underwater robot
Válek, Zdeněk ; Věchet, Stanislav (referee) ; Houška, Pavel (advisor)
This bachelor's thesis is dealing with design of an explorative robot. The robot is designed especially for the exploration of the underwater part of Hranická propast, the deepest abyss in the central Europe. Its exploration is complicated by several limitations that the robot have to challenge. These limitations take effect mainly in the design of sensor system. The design of construction is affected mostly by the maximal operating deep request.
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Laboratory exercises of electronic elevator model
Kašpar, Ondřej ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
My Bachelor project is based on concept and realization of electronic model of elevator. This examplar works only on electric base without any mechanical components. This project at all will stay in laboratory of automatization. Students can use it as visual aid in studying and learning new things about programmable controller of Siemens, especially models S7-200. The movement of cabine of elevator is exemplified in bargraf, which you can leave control over then by active componets, LED drivers. The model is directed by micro-processor ALMEL ATmega128, which is connected with PC serial and paralel line. In my project you can find some descriptions of under consideration and used technologies, development system and constructional components.
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Mechanical construction of hydraulics arm
Vodrážka, Jakub ; Březina, Lukáš (referee) ; Věchet, Stanislav (advisor)
This bachelor’s thesis deals with design of a hydraulics arm. The main purpose of this hydraulics arm is the possibility to use it in education project which is a part of hydraulics systems lessons. This arm consists from few parts which are connected together by rotary joints. This arm is actuated by linear hydromotors, furthermore there is a magnetic position sensor. Autodesk Inventor 2008 was used during the arm design process. There are three main parts in this work. First part deals with fluids systems, the second part shows the position sensor properties and the last part presents some cases of arm design with deformation verify. A lot of supplement is presented at the end of this work as pictures of the model of the arm or pictures of some parts of the model.
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Robot model in the Python
Fikar, Josef ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
This work describes creation of simulation environment for mobile robot, which is designed to take part in Micromouse competition. Another solved issue is creation of communication interface and its control application, to provide combination between both robot and control program. Simulation is designed to serve as testing environment for development of tracking algoritm, which will guide robot through the defined labyrinth.
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Static and Fatigue Properties of Selected Al - alloy
Skoumalová, Zuzana ; Němec, Karel (referee) ; Věchet, Stanislav (advisor)
The present bachelor thesis focuses on material properties of wrought aluminium alloy AlZn4Mg1. The thesis deals with the interrelations between the alloy structure and its static as well as fatigue properties, especially with the latter. The first part of the thesis provides a summary of current knowledge in the studied field, experimental results can be found in the second part. Static properties of the alloy were examined with the help of measurements of hardness and a tension test, fatigue properties on the basis of experiments in high- and low-cycle regions.
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Influence of Homogenizing on Mechanical Properties of AZ91 Alloy
Provazníková, Andrea ; Liškutín, Petr (referee) ; Věchet, Stanislav (advisor)
This bachelor thesis includes photos and graphic representations of the influence of heat treatment on the mechanical properties of magnesium alloy AZ91. The structures of the alloy are recorded on the light microscopy pictures as well as photographs taken using a scanning microscope of fracture areas in the material. Results of a Tensile Test determining the strength and plastic properties and measuring of hardness and microhardness of the material are also included.
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Influence of Loading Frequency on Fatigue Properties of Structural Materials
Kašpar, Jan ; Němec, Karel (referee) ; Věchet, Stanislav (advisor)
This thesis analyse the influence of loading frequency on the fatigue of the structural materials. Low frequency loading (to the 200 Hz) has nearly no influence on the fatigue properties in almost all cases. Hight frequency loading (1 and more kHz) has major influence on the fatigue limit of the structural materials. This interference will disply like increasing of the fatigue limit. For example fatigue limit of steel is more affected by hight frequency loading than the cast-iron. Important aspect at hight frequency loading is rising temperature in the loading process. Rising temperature has negative influence on the fatigue limit of materials. Important aspect of the loading high frequency is possibility to achieved gigacycle regime of the fatigue (109 and more cycles), where should appear crack from below surface. This crack is call „ fish eye".
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