Bir kolun hareketlerini takip eden dört dönel mafsallı robot kolu tasarımı ve deneysel araştırılması
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Dosyalar
Tarih
2008
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Trakya Üniversitesi Fen Bilimleri Enstitüsü
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Günümüzde bilgisayar sistemlerinin gelişimine paralel olarak bilgisayar destekli tasarım (C.A.D.) ve üretim (C.A.M.) sistemleri de gelişme göstermiştir. Bilgisayar destekli üretim sistemlerinde genellikle bir bilgisayar tarafından denetlenen bir veya birden fazla robot kolu (manipülatör) ve bunlara bağlı uç işlevcileri kullanılmaktadır.Bu çalışmada; Dört serbestlik derecesine sahip bir robot kolu ve buna bağlı bir uç işlevcisinin yine dört serbestlik derecesine sahip bir robot kolu ve bilgisayar ortamında hazırlanmış bir kontrol programı yardımıyla konum kontrolü ele alınmıştır. Bu amaçla kollardan birinin eklemlerine eklem açılarını algılaması için hassas potansiyometreler yerleştirilmiş ve Master Kol adı verilmiştir. Diğer kolun eklemlerine ise master kolun eklem açılarına ve kontol programında sanal eklemlerde üretilen eklem açılarına göre hareket eden RC servo motorlar yerleştirilmiş ve Slave kol adı verilmiştir. Master ve Slave Kolun kontrol programı yani bilgisayarla olan bilgi alışverişi bilgisayara takılan ADC DAq kartı yardımıyla yapılmaktadır. Ayrıca Master koldan alınan eklem açılarına veya kontrol programında üretilen sanal eklem açılarına göre robot kolunun ileri kinematik hesaplamaları yapılarak uç işlevcisinin konum vektörleri bilgi amaçlı olarak programda gösterilir. Uç işlevcisinin olması istenilen üç boyutlu koordinat düzlemindeki x, y, z koordinatlarına göre Ters kinematik hesaplamaları yapılarak olası eklem açıları bilgi amaçlı olarak programda gösterilir. Kontrol programından yapılan seçime göre Slave kol; Master kolun hareketlerini (Eklem Açılarını) birebir takip eder, Kontrol programındaki sanal potansiyometrelerin açılarını takip eder, Kontrol programında uç işlevcisinin üç boyutlu koordinat düzleminde olması istenen noktaya hareket eder ve Kontrol programında belirlenen koordinatlara belirlenen periyotla seri hareketler yapar. Anahtar kelimeler: manipülatör, robot kolu, konum kontrolü, ileri kinematik, ters kinematik
Nowadays, computer assisted design and manufacturing systems have showed an improvement in parallel with the improvement of the computer systems. One or more manipulators which are mostly controlled by a computer and apex processors bounded in these manipulators are used in computer assisted manufacturing systems. In this study, position control is taken on with the assistance of a manipulator which has four degrees of freedom and a bounded apex processor, also again a manipulator which has four degrees of freedom and a control programme which is setup with a computer. For this purpose, sensitive potentiometers are located in one of manipulator's joints in order to sense joint angles and that is called as master arm (master manipulator). In joints of the other manipulator, RC servo motors which move according to joint angles of master arm and prepared in control programs virtual joints are located and named as slave arm. Control programme of master and slave arms ( i.e. exchange of information with computer ) are committed with the aid of ADC DAq card which is mounted to computer. Besides, advanced-kinematic computations of robot arm are taken upon joint angles of master arm or virtual joint angles which are generated at control programme and position vectors of apex processor are shown in the programme as information. Possible joint angles are also shown in the programme by calculating the reverse kinematics of apex processor according to x, y, z coordinates on three-dimensional coordinate platform. Slave Arm; as to choice made from control programme: It follows the transactions of master arm (joint angles). It follows the angles of virtual potentiometers in control programme. It moves to the expected point on three-dimensional coordinate platform where apex processor is wanted to reach in control programme and it makes fast acts to the stated coordinates with designated periods. Key Words: manipulator, robot arm (robot lever), position control, advanced-kinematics, reverse-kinematics
Nowadays, computer assisted design and manufacturing systems have showed an improvement in parallel with the improvement of the computer systems. One or more manipulators which are mostly controlled by a computer and apex processors bounded in these manipulators are used in computer assisted manufacturing systems. In this study, position control is taken on with the assistance of a manipulator which has four degrees of freedom and a bounded apex processor, also again a manipulator which has four degrees of freedom and a control programme which is setup with a computer. For this purpose, sensitive potentiometers are located in one of manipulator's joints in order to sense joint angles and that is called as master arm (master manipulator). In joints of the other manipulator, RC servo motors which move according to joint angles of master arm and prepared in control programs virtual joints are located and named as slave arm. Control programme of master and slave arms ( i.e. exchange of information with computer ) are committed with the aid of ADC DAq card which is mounted to computer. Besides, advanced-kinematic computations of robot arm are taken upon joint angles of master arm or virtual joint angles which are generated at control programme and position vectors of apex processor are shown in the programme as information. Possible joint angles are also shown in the programme by calculating the reverse kinematics of apex processor according to x, y, z coordinates on three-dimensional coordinate platform. Slave Arm; as to choice made from control programme: It follows the transactions of master arm (joint angles). It follows the angles of virtual potentiometers in control programme. It moves to the expected point on three-dimensional coordinate platform where apex processor is wanted to reach in control programme and it makes fast acts to the stated coordinates with designated periods. Key Words: manipulator, robot arm (robot lever), position control, advanced-kinematics, reverse-kinematics
Açıklama
Yüksek Lisans Tezi
Anahtar Kelimeler
Makine Mühendisliği, Mechanical Engineering, Kinematik, Kinematic, Manipülatör, Manipulator, Robot kolu, Robot arm
