Abstract

This engineering thesis focuses on the recognition of modern budgetary solutions of robotic
arms and on the design and implementation of one of them. Historical solutions are discussed
using the example of the IRB6 robot and the modern approach - the Omron Viper 850. The
paper includes a description of the design thought of the different parts. Mechanical, electrical and
software aspects are presented. In the mechanical part, the basic principles that accompanied
the designers during their work are described, as well as explanations of some solutions used.
The electrical part focuses on a description of the control cabinet and explains the basic design
principles of this type of construction. It also mentions the decisions that were made because
of the limited budget. The software description includes an introduction to the ROS environment
and explains how to control the stepper motors and their drivers. The work carried out on the
practical implementation of the design is also documented. The team has tried to explain what
methods were used to make the necessary elements. The description of the work includes many
photographs taken during the construction. Tests of the finished arm were carried out and the
results, together with their conclusions, are presented in this paper. At the end of the paper,
thoughts on the design process and conclusions for the potential next version of the device are
included.

Authors (2)