Kartezyen robot tasarımı
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Dosyalar
Tarih
2006
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Hatay Mustafa Kemal Üniversitesi
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
IÖZETKARTEZYEN ROBOT TASARIMIGeliºmiº ülkelerdeki imalat sistemleri incelendiðinde otomasyon teknolojilerininve robot manipülatörlerin yaygı olarak kullanı ðı görülmektedir. Bu sistemlern ldıiçerisinde en önemli otomasyon grubu açı yapı uyarlanabilir olanlardı Ancakk lı r.günümüzde robot üreticileri ürettikleri sistemlerin mimari yapı nıkapalıtutarak hemlarıteknolojilerini korumakta hem de robotları kullanı alanları nın m nısı rlamaktadırlar. Açıkbir sistem esnektir ve farklı uygulamalara uyarlanabilir. Tasarı yapı sistemin hermı lanhangi bir kısmıyenisi ile deðiºtirilebilir veya geliºtirilebilir.Bu çalı manı amacı açı yapı sahip bir robot sisteminin alt yapı nıº n k ya sıoluºturmaktı Robotun mekanik kır. smı birbirinden baðı z olarak (x, y, zmsıeksenlerinde) hareket eden kollar ve platformdan oluºan bir yapı sahiptir. Mekanikyaparçalar özel olarak tasarlanmı r ve imal edilmiºtir. Sistemin kontrolü(hı ve yönºtı zkontrolü), paralel port üzerinden sürülerek yapı r. Adı motorları vasılı m tası ile gereklikol hareketleri gerçekleºtirilmiºtir. Sisteme takip edilecek yol bilgisi DXF dosyaformatı nda iletilmektedir. Ara programlar kullanı larak bu yol bilgisi kol hareketlerineçevrilebilmektedir.Robot kolları n hareket hassasiyeti tam adını mda ve yarı adım mdasırasıile 0.006250 ve 0.003125 mm olarak gerçekleºtirilmiºtir.Taºı cıplatforma kalemyıtakılarak çizici olarak, oksi-gaz aparatı takılarak bilgisayar kontrollü kesme makinesiolarak test edilmiºtir. Testler sonucunda hareket ve boyut hassasiyetinde istenilendeðerlere ulaºı ºtılmı r.2006, 97 sayfa
IIABSTRACTTHE PROJECTION OF CARTESIAN ROBOTExamining the manufacturing systems in developed countries it is seen thatautomation technologies and robot manipulators are widely used. Amongst these, theopen structure automation systems are the most important due to their flexibilityfeature. Nowadays, the robot manufacturer produce systems with embedded structurethereby not only protect their technology but also restrict the implementation areathese systems. An open system is flexible and adaptable to different implementations.The designed system is an open system that allows replacing any part of module with anew one or permits modifications.The aim of the study is to design and develop an open structure robot system toprovide the necessary grounds for future developments. The mechanical structure ofthe robot consists of a platform and arms that operate in each axis (x, y, z)independently. All the mechanical components of the system are designed andmanufactured specially for the study. The control application of the robot is achievedby driving step motors (speed and direction control) through which the arm motionsare achieved. The required path information to the system is provided by a DXF fileformat. The path is then converted to arm motions by use of some interface programs.The accuracy of robot arms motion for full step and half step is achieved at 0,00625and 0,003125 mm, respectively. To test the performance of the device, it is used as aplotter by fixing a pen to the platform, and as a cutter by attaching an oxi-gas cutterapparatus. It is shown by experiments that the performance of the system in terms ofmotion and form is satisfactory.2006, 97 pages
IIABSTRACTTHE PROJECTION OF CARTESIAN ROBOTExamining the manufacturing systems in developed countries it is seen thatautomation technologies and robot manipulators are widely used. Amongst these, theopen structure automation systems are the most important due to their flexibilityfeature. Nowadays, the robot manufacturer produce systems with embedded structurethereby not only protect their technology but also restrict the implementation areathese systems. An open system is flexible and adaptable to different implementations.The designed system is an open system that allows replacing any part of module with anew one or permits modifications.The aim of the study is to design and develop an open structure robot system toprovide the necessary grounds for future developments. The mechanical structure ofthe robot consists of a platform and arms that operate in each axis (x, y, z)independently. All the mechanical components of the system are designed andmanufactured specially for the study. The control application of the robot is achievedby driving step motors (speed and direction control) through which the arm motionsare achieved. The required path information to the system is provided by a DXF fileformat. The path is then converted to arm motions by use of some interface programs.The accuracy of robot arms motion for full step and half step is achieved at 0,00625and 0,003125 mm, respectively. To test the performance of the device, it is used as aplotter by fixing a pen to the platform, and as a cutter by attaching an oxi-gas cutterapparatus. It is shown by experiments that the performance of the system in terms ofmotion and form is satisfactory.2006, 97 pages
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