Due to increasing use and research, Faculty of Mechanical Engineering, University of Ljubljana decided to develop and manufacture the first Slovenian hydraulic humanoid robot prototype. The diploma thesis was set with the aim of researching the field and developing the concept for the hydraulic wrist and palm of a humanoid robot. For the initial idea of movement and concept, we analyzed the movement of a human and thus obtained ideas for initial concepts, from which we then selected the most promising one and began static and dynamic force calculations that occurs in the mechanisms in the movement of the loaded wrist. After forces were determined, we also performed rope calculations. It was also necessary to calculate the hydraulic components and harmonize the concept with the calculated values.
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