This Master thesis deals with the design of linear unit with hydraulic actuator for the robot with parallel kinematic structure. One of the objectives is to get an overview of the differences related to characteristics of design and construction between serial and parallel kinematic structure (PKS) of the industrial robots, as a new type of technical objects in robotics. In addition the aim is to create an original structural design of linear unit, as the basic constructional assembly and operational node of robot with PKS, according to the specified input values, such as power, pressure, speed and stroke, important for the design of linear hydraulic actuator.

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.