Ters robot kol mekanizma tasarımı, kontrolü ve simülasyonu
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Tarih
2024
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Düzce Üniversitesi
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
İnsanlık, yüzyıllar boyunca yaşamını kolaylaştırmak için birçok çalışma gerçekleştirmiştir. Endüstrinin gelişimi ile beraber insan gücünün gereksinimini azaltacak çalışmalar gerek zaman gerek maliyet tasarrufu için bilimin her zaman ilgi odağı olmuştur. Bu bağlamda insan yükünün en aza indirilmesini ve işin otomatik gerçekleştirilmesini sağlayan robotik otomasyon sistemleri büyük önem arz etmiştir. Çeşitli ihtiyaçlar doğrultusunda geliştirilen robotların birçok farklı çeşidi bulunmaktadır. En yaygın kullanım alanına sahip robot çeşidinin insan koluna benzer işlevlere sahip olan robot kollar olduğu görülmüştür. Bu tez çalışmasında da ters mekanizmaya sahip bir robot kol tasarlanmıştır. Tasarımı gerçekleştiren robot kolun endüstride karşılaşıldığı tespit edilen iki probleme çözüm üretmesi amaçlanmıştır. Bu problemlerden ilki robot kolun kapladığı yer sorunudur. İkinci problem ise robot kolun imalat tezgâhında sabit olması sebebi ile yalnızca bir üretim hattında faaliyette olması bundan dolayı her tezgâhta başka bir robot kola ihtiyaç duyulmasıdır. Bu da maliyet sorununu ortaya çıkartmaktadır. Bu amaçlar doğrultusunda tasarımı gerçekleştirilen tavandan raylı bir sisteme entegre edilmiş altı eksenli robot kol mekanizmasının, matematiksel modeli oluşturulup MATLAB ortamında dinamik analizi ve simülasyonu gerçekleştirilmiştir. Simülasyonda robot kolun belirlenen bir hedef nesneye yaklaşması, hedef nesneyi kavraması, taşıması ve belirlenen konuma hedef nesneyi bırakması sağlanmıştır. Sistemin bu kontrollü hareketi gerçekleştirebilmesi için PID kontrolcü modeli kullanılmıştır. Simülasyon sonucunda elde edilen konum – zaman (teta – zaman) grafikleri incelendiğinde sistemin belirlenen referans değerlerinde hareket ettiği görülmüştür. Bu çalışma sonucunda ters robot kol mekanizmasının tasarlanma amacı doğrultusunda iki temel probleme çözüm sağladığı ortaya konmuştur.
Throughout history, humanity has carried out numerous efforts to facilitate daily life. With the development of industry, efforts to reduce the need for human labor have always been a focus of science, aiming for both time and cost savings. In this context, robotic automation systems, which minimize human workload and enable tasks to be performed automatically, have gained significant importance. Various types of robots have been developed to meet different needs, with robotic arms that mimic the functions of a human arm being the most commonly used. This thesis focuses on the design of a robotic arm with an inverse mechanism, aiming to address two identified industrial problems. The first problem is the space occupied by the robotic arm. The second problem is that the robotic arm is fixed on the production bench, limiting its activity to a single production line, thus necessitating a separate robotic arm for each bench, which increases costs. To address these issues, a six-axis robotic arm mechanism integrated into a ceiling-mounted rail system was designed, its mathematical model was created, and its dynamic analysis and simulation were performed in MATLAB. The simulation ensured that the robotic arm approached a designated target object, grasped it, transported it, and released it at a specified location. A PID controller model was used to enable the system to perform this controlled movement. The position-time (theta-time) graphs obtained from the simulation showed that the system moved according to the specified reference values. As a result of this study, it was demonstrated that the inverse robotic arm mechanism successfully addressed the two primary problems for which it was designed.
Throughout history, humanity has carried out numerous efforts to facilitate daily life. With the development of industry, efforts to reduce the need for human labor have always been a focus of science, aiming for both time and cost savings. In this context, robotic automation systems, which minimize human workload and enable tasks to be performed automatically, have gained significant importance. Various types of robots have been developed to meet different needs, with robotic arms that mimic the functions of a human arm being the most commonly used. This thesis focuses on the design of a robotic arm with an inverse mechanism, aiming to address two identified industrial problems. The first problem is the space occupied by the robotic arm. The second problem is that the robotic arm is fixed on the production bench, limiting its activity to a single production line, thus necessitating a separate robotic arm for each bench, which increases costs. To address these issues, a six-axis robotic arm mechanism integrated into a ceiling-mounted rail system was designed, its mathematical model was created, and its dynamic analysis and simulation were performed in MATLAB. The simulation ensured that the robotic arm approached a designated target object, grasped it, transported it, and released it at a specified location. A PID controller model was used to enable the system to perform this controlled movement. The position-time (theta-time) graphs obtained from the simulation showed that the system moved according to the specified reference values. As a result of this study, it was demonstrated that the inverse robotic arm mechanism successfully addressed the two primary problems for which it was designed.
Açıklama
Anahtar Kelimeler
Mekatronik Mühendisliği, Mechatronics Engineering
