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Hexapod Robot Movement Control
Kocich, Martin ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
At the beginning of the research, the skeleton of the hexapod robot was equipped with servomotors only and no control unit or sensors. The objective of this thesis is to develop an overall solution for the control of the robot in question. Furthermore, to create a graphical interface to control and monitor the robot using Qt environment. Raspberry Pi 4 and ROS software running on operational system Ubuntu 20.04 was chosen to control the hexapod. While researching available software options, an existing solution was found. This solution was extended with feedback from the servo motors and the control algorithms were modified. Furthermore, new hardware was tested, e.g.: cameras with depth sensing capability. The found solution is extended e.g. with additional motion modes, graphical interface, support for new hardware, updates to the outdated version of ROS and its components. All problems during the implementation of the solution have been sufficiently solved. This thesis walks through the entire research process and then breaks down the commissioning of the robot from skeleton to working solution.
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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Design of Model of a Walking Autonomous Mechanism and its Simulation of Movements in Difficult Terrain
Szabari, Mikuláš ; Jánoš,, Rudolf (referee) ; Bobovský,, Zdenko (referee) ; Knoflíček, Radek (advisor)
The first part of the work is devoted to the current state, which discusses the design and step cycles of legged mechanisms and also the resistant terrain. The following second part critically evaluates the current state and defines the solved problem. The third part sets specific goals and creates a work procedure. The solution of the work follows by fourth part, which realizes the morphological analysis of the structure of the legged mechanism and the analysis of the resistant terrain in which the mechanism moves. The fifth part is devoted to the creation of models of legged mechanisms, its initial test and the choice of a specific construction of a legged mechanism for resistant terrain. The following sixth part simulates the movement of the legged mechanism and deals with its optimization. The simulation is confirmed by the experiment performed in the seventh part. The end of the work is devoted to contributions, discussion of results and conclusion.
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Design of walking mobile robot
Szabari, Mikuláš ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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