| Abstract [eng] |
Robotic hands are usually used for an imitation of possibilities of human hand movement. Robots that draws or sketch contours splendidly demonstrate robotic hands capabilities while rigorous precision or accuracy requirements are not applied for such robots. They are designed for mostly artistical purpose, therefore the complexity of their construction is not as complicated as of industrial robotic hands. Drawing Robots use vector-images that vectoral coordinates are being converted to the rotation angles of robotic hand joints by solving an inverse kinematic query. The goal of this Thesis is to create a control system of Drawing Robot and to analyze its performance and capabilities. The main problems: inaccuracy of robotic hands; synchronization of servo gears. Applied methods: analysis of scientific and online stock materials, experiments, use of drawing and mathematical modelling programs, such as AUTOCAD or MATLAB. All the experiments are done with 3-axis robotic hand. Three interconnected RC type servo gears has been used. They have limited discretion and their rotation speed cannot be controlled. Results summary: found, that the main factors of precision of robotic hand depends on discretion of servo gears and freedom between sun gears. Identified, that smooth robotic hand movement depends on synchronization of servo gears, when they start and stop rotating at the same time. |
