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Testing platform with 3 dof
Spáčil, Tomáš ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This thesis deals with development and construction of parallel manipulator with three degrees of freedom whose assumption of usage is testing tanks for NH3. In this work we are going to investigate the design of the mechanism in Matlab Simulink. Design of the electronic is introduced and also the control program is developed. The result of the work will be a prototype of manipulator.
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Desing of PKS type TRIPOD
Coufal, Jiří ; Knoflíček, Radek (referee) ; Holub, Michal (advisor)
The thesis acquaints the reader with issues of manipulators based on parallel kinematic structures. It includes also the description of the construction procedure of chosen mechanism. Introductory search part specifies selected terms relating to building elements and describes their requirements. Alternatives of construction and used types of manipulators are shown in the illustrative images with labels. Next chapters deal with projects of selected parallel mechanism and methodologies of constructions. These chapters describe the design of all devised construction nodes. The construction and testing of the produced prototype is properly documented, indicating the resulting knowledge.
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Object positioning in 3D space using parallel cable-driven robot
Rajnoha, Andrej ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
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.
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AeroWorks: Simulator Motion Platform
Morávek, Martin ; Kunovský, Jiří (referee) ; Chudý, Peter (advisor)
This diploma thesis is dealing with the concepts behind the Stewart platform based flight simulation phenomena along with the method of inverse kinematics computation. Further, a washout algorithm to provide appropriate vestibular sensing to the pilot and ensuring that platform will not reach its limits is presented. Digital filters designed to be used in the implementation of the washout algorithm and their characteristics are also covered. The last part describes the architecture of the whole system and the implementation of individual parts.
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Simulation modeling of parallel mechanisms
Cintula, Ladislav ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
Parallel mechanisms are characterized by their kinematic structure presented a closed kinematic chain. The end effector of mechanism is then bound to a base of over one arm. This design provides an advantage especially at high stiffness of mechanism and related properties. The disadvantage of such a structure is then usually very limited working space. In terms of simulation modeling is the construction due to its complexity rather problematic. The aim of work is design comprehensive simulation model chosen parallel mechanism and its analysis in selected working modes. Expected to use Adams simulation environment, if necessary. Matlab - SimMechanics and Ansys.
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Bin picking of non-oriented components using a parallel manipulator
Novák, David ; Marada, Tomáš (referee) ; Štěpánek, Vojtěch (advisor)
This master's thesis deals with the design of sorting unoriented components using a parallel manipulator. In the literature review section, it describes machine vision methods and important aspects when selecting a suitable camera for machine vision, which will be used for robot navigation. This section also discusses robot programming methods and describes possible approaches to programming robot movement. The practical part includes the design of the fourth axis of a delta manipulator in the NX Siemens environment, which allows for the orientation of manipulated objects. The software section presents the design of PLC control in the TwinCAT3 program. In this environment, functionalities for inverse kinematics, trajectory planning, image processing, and HMI for robot operation are utilized. Furthermore, a functional model was created in the virtual NX MCD environment, which communicated with TwinCAT3 via an OPC server.
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Object positioning in 3D space using parallel cable-driven robot
Rajnoha, Andrej ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
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.
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AeroWorks: Simulator Motion Platform
Morávek, Martin ; Kunovský, Jiří (referee) ; Chudý, Peter (advisor)
This diploma thesis is dealing with the concepts behind the Stewart platform based flight simulation phenomena along with the method of inverse kinematics computation. Further, a washout algorithm to provide appropriate vestibular sensing to the pilot and ensuring that platform will not reach its limits is presented. Digital filters designed to be used in the implementation of the washout algorithm and their characteristics are also covered. The last part describes the architecture of the whole system and the implementation of individual parts.
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Simulation modeling of parallel mechanisms
Cintula, Ladislav ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
Parallel mechanisms are characterized by their kinematic structure presented a closed kinematic chain. The end effector of mechanism is then bound to a base of over one arm. This design provides an advantage especially at high stiffness of mechanism and related properties. The disadvantage of such a structure is then usually very limited working space. In terms of simulation modeling is the construction due to its complexity rather problematic. The aim of work is design comprehensive simulation model chosen parallel mechanism and its analysis in selected working modes. Expected to use Adams simulation environment, if necessary. Matlab - SimMechanics and Ansys.
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Desing of PKS type TRIPOD
Coufal, Jiří ; Knoflíček, Radek (referee) ; Holub, Michal (advisor)
The thesis acquaints the reader with issues of manipulators based on parallel kinematic structures. It includes also the description of the construction procedure of chosen mechanism. Introductory search part specifies selected terms relating to building elements and describes their requirements. Alternatives of construction and used types of manipulators are shown in the illustrative images with labels. Next chapters deal with projects of selected parallel mechanism and methodologies of constructions. These chapters describe the design of all devised construction nodes. The construction and testing of the produced prototype is properly documented, indicating the resulting knowledge.
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