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Uncommon platforms in mobile robotics
Miškolci, Michal ; Cihlář, Miloš (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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New uncommon actuators in robotics
Fogelton, Lukáš ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
This report presents up to now development of actuators in robotics theirs applications, specifics various sorts of actuators, theirs principles, advantages and disadvantages. Report is splitted to the part that presents usual used actuators, especially electric principle powered actuators, today primarily PMSM motors, furthermore pneumatic or hydraulic actuators that uses pistons principle for convert pressure energy to the motion, or piston combustion engines. In next part presents more unusual actuators that have interesting features for use. Lot of these actuators are elastic, deformable and have better power/weight ratio. In the last part is presented priciple of function pneumatic stepper motor, that is uncommon actuator useable for application in robot works compatible with magnetic resonance imaging.
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Uncommon platforms in mobile robotics
Miškolci, Michal ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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New uncommon actuators in robotics
Fogelton, Lukáš ; Žalud, Luděk (referee) ; Kopečný, Lukáš (advisor)
This report presents up to now development of actuators in robotics theirs applications, specifics various sorts of actuators, theirs principles, advantages and disadvantages. Report is splitted to the part that presents usual used actuators, especially electric principle powered actuators, today primarily PMSM motors, furthermore pneumatic or hydraulic actuators that uses pistons principle for convert pressure energy to the motion, or piston combustion engines. In next part presents more unusual actuators that have interesting features for use. Lot of these actuators are elastic, deformable and have better power/weight ratio. In the last part is presented priciple of function pneumatic stepper motor, that is uncommon actuator useable for application in robot works compatible with magnetic resonance imaging.
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Automatic Detection of a Vessel Mooring at an Anchor Buoy in LPWAN Networks
Kejík, Petr ; Klusáček, Stanislav (referee) ; Kopečný, Lukáš (advisor)
This Master’s thesis deals with the design and construction of a maintenance-free unit for the detection of vessel mooring to an anchor buoy. The unit is powered by a battery with the possibility of running from another alternative source of power, in this particular case a solar panel. For wireless communication, the unit uses LoRa and NB-IoT technologies working in the LPWAN networks. During the designing phase, emphasis is placed on aspects such as maintenance-free duty, minimal consumption and the possibility of mounting on any type of buoy. The thesis also deals with the mechanical design of the device and design of the prototype of the detection element. The work is created in a cooperation with Netlia IoT s.r.o., which mainly deals with the custom production of devices using smart sensors and LPWAN communication technologies.
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On the kinematics of legged robots
Hrubý, Tomáš ; Kopečný, Lukáš (referee) ; Burian, František (advisor)
This bachelor thesis deals with the topic of kinematics of walking robots. It is aimed at introducing the problems of mobile robots and the concepts of solving locomotion and stability of robots with different numbers of limbs. Furthermore, the thesis discusses the mathematical principles leading to the description of the limbs of robots and to the description of their motion. These principles are then applied to the specific case of a six-legged walking robot. The description of the limbs with respect to the coordinates and the servomotor setup is resolved. Then the forward motion of the robot is modeled and the result is shown in the simulation.
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Mobile Robot with Telepresence Control
Svědiroh, Stanislav ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
This thesis deals with the proposal and implementation of a robotic platform for the purpose of visual telepresence. The aim of the work is to create a robotic platform remotely controlled by a virtual reality headset, being capable of moving on a flat surface and rotating the camera plaform in two degrees of freedom independently. This work provides a complete solution - both in terms of software and hardware.
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Peristaltic Pump Controll Unit
Charvát, Jakub ; Kopečný, Lukáš (referee) ; Ligocki, Adam (advisor)
The work deals with the problematic of peristaltic pumps and it collects theoretical background information of this topic. The primary goal of the work is the implementation of peristaltic pump and the implementation of protection against equipment damage by overpressure. The overpressure evaluation system in this thesiss on the principle of current measurement of the motor pump. In this work, this premise is successfully tested and applied to the device. Another goal of this work is to create a desktop application that will monitor and control the pump. he data between the application and the device were successfully transfered by the MQTT communication protocol. The communication between the computer and the pump has been tested successfully.
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New uncommon actuators
Novotný, Jan ; Ligocki, Adam (referee) ; Kopečný, Lukáš (advisor)
This report contains a list of new chosen uncommon actuators that emerged in the last 10 years, mathematical model of 3D-Elastomer actuator, construction and testing of 3D-Elastomer actuator. The list is divided by the priciple and the type to 6 categories, which are pneumatic actuators, hydraulic actuators, soft actuators, piezoelectric actuators, micro/nano actuators and shape memory actuators. The construction of actuator is using 3D printing technology and silicone molding to build soft pneumatic actuator with three degrees of freedom of bending. Actuator is then tested for its elongation and bending parametres.
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