Öz
Bu çalışmada, eklemli robotik sistemlerde kullanılması amacıyla planet redüktör yapılı eklem tahrik ünitesi tasarlanmıştır. Aktüatör olarak ifade edilen robot eklem tahrik ünitesinin yapısında; tahrik motoru, redüksiyon sistemi, motor kontrol ünitesi ve geri bildirim ünitesi (sensör, enkoder, potansiyometre vb.) yer almaktadır. Eklem bacaklı veya manipülatör yapılı robotik sistemlerin eklem hareketleri için yüksek torklu ve hızlı tepki verebilecek tahrik sistemleri tercih edilmektedir. Kontrol ve kullanım kolaylığı açısından tahrik motoru olarak DC motor kullanılmıştır. Eklemlerde yüksek tork ve hız elde edebilmek için planet (gezegen) dişli redüktör sistemi tasarlanmıştır. 3 boyutlu (3B) yazıcılar yardımıyla PLA malzemeden imal edilecek olan planet redüktörün, kullanılacak motor, sürücü ve enkoder çeşidine göre tasarlanarak ilgili uygulamalarda kullanıma sunulması amaçlanmıştır. Hedeflenen redüktör tahvil oranına göre planet dişlilerin kinematik analizi gerçekleştirilmiş, robotik sistemlerde verimli kullanılabilmesi için uygun tasarım sonucu eklem tahrik sistemi oluşturulmuştur.
Anahtar Kelimeler
Robotik Aktüatör Planet Dişli Kinematik Üç Boyutlu (3B) Yazıcı. Robotics Actuator Planetary Gear Kinematics 3D Printer.
Kaynakça
- 1. Koç, S., Doğan, C., “Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes”, Gümüşhane University Journal of Science and Technology, Cilt 12, Sayı 2, Sayfa 454-465, 2022.
- 2. Ghorbanpour, A., Richter, H., “Energy-optimal, direct-phase control of brushless motors for robotic drives”, Proceedings of the ASME 2020, Dynamic Systems and Control Conference, Sayfa 1-10, 2020.
- 3. Procter, S., Secco, E.L., “Design of a biomimetic BLDC driven robotic arm for teleoperation & biomedical applications”, Journal of Human, Earth, and Future, Cilt 2, Sayı 4, Sayfa 345-354, 2021.
- 4. Ersin, Ç., Yaz, M., Gökçe, H., “Upper limb robot arm system design and kinematic analysis”, El-Cezeri Journal of Science and Engineering, Cilt 7, Sayı 3, Sayfa 1320-1331, 2020.
- 5. Zawkan, M., Karim, A., Thamrin, N.M., “Servo motor controller using PID and graphical user interface on Raspberry Pi for robotic arm”, International Conference on Robotic Automation System 2021, Cilt 2319, Sayfa 1-10, 2021.
- 6. Tokel, Ç., “Design and implementation of a 4-axis RC servo driven robot manipülatör”, Master Thesis, Dokuz Eylül University, Institute of Science and Technology, İzmir, 2009.
- 7. Çelebi, A., Korkmaz, A., Yılmaz, T., Tosun, H., “Design and production of 6 axis robot arm by 3D printer”, International Journal of 3D Printing Technologies and Digital Industry, Cilt 3, Sayı 3, Sayfa 269-278, 2019.
- 8. Brassitos, E., Jalili, N., “Design and development of a compact high-torque robotic actuator for space mechanisms”, Journal of Mechanisms and Robotics, Cilt 9, Sayı 061002, Sayfa 1-11, 2017.
- 9. Wensing, P.M., Wang, A., Seok, S., Otten, D., Lang, J., Kim, S., “Proprioceptive actuator design in the MIT Cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots”, IEEE Transactions on Robotics, Cilt 33, Sayı 3, Sayfa 509-522, 2017.
- 10. Yin, H., Huang, S., He, M., Li, J., “A unified design for lightweight robotic arms based on unified description of structure and drive trains”, International Journal of Advanced Robotic Systems, Cilt 14, Sayı 4, Sayfa 1-14, 2017.
- 11. Rader, S., Kaul, L., Weiner, P., Asfour, T., “Highly integrated sensor-actuator-controller units for modular robot design”, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Sayfa 1-7, 2017.
- 12. Akdağ, M., “Design and analysis of robot manipulators by integrated CAE procedures”, Doctoral Thesis, Dokuz Eylül University, Graduate School of Natural and Applied Sciences, İzmir, Sayfa 68, 2008.
- 13. ForceUp Redüktörlü DC Motor, 2022, https://www.robotzade.com/Proton-12V-1000-RPM-Reduktorlu-DC-Motor,PR-1599.html
- 14. BTS7960b DC Motor Sürücü Devresi, 2022, https://www.robotistan.com/bts7960b-20-amper-motor-surucu-karti
- 15. Matejic, M.S., Blagojevic, M.Z., Matejic, M.M., “Dynamic behavior of a planetary reducer with double planet gears”, Mechanical Sciences, Cilt 12, Sayfa 997-1003, 2021.
Öz
In this study, a planetary reducer joint drive unit was designed for use in articulated robotic systems. In the structure of the robot joint drive unit, which is expressed as an actuator; drive motor, reduction system, motor control unit and feedback unit (sensor, encoder, potentiometer, etc.). High torque and fast response propulsion systems are preferred for the joint movements of arthropod or manipulator structured robotic systems. In terms of control and ease of use, DC motor is used as the drive motor. A planetary gear reducer system has been designed to achieve high torque and speed at the joints. The planetary gearbox, which will be manufactured from PLA material with the help of 3D printers, is designed according to the type of motor, driver and encoder to be used, and it is aimed to be used in related applications. The kinematic analysis of the planetary gears was carried out according to the targeted gearbox ratio, and a joint drive system was created as a result of the appropriate design so that it can be used efficiently in robotic systems.
Anahtar Kelimeler
Kaynakça
- 1. Koç, S., Doğan, C., “Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes”, Gümüşhane University Journal of Science and Technology, Cilt 12, Sayı 2, Sayfa 454-465, 2022.
- 2. Ghorbanpour, A., Richter, H., “Energy-optimal, direct-phase control of brushless motors for robotic drives”, Proceedings of the ASME 2020, Dynamic Systems and Control Conference, Sayfa 1-10, 2020.
- 3. Procter, S., Secco, E.L., “Design of a biomimetic BLDC driven robotic arm for teleoperation & biomedical applications”, Journal of Human, Earth, and Future, Cilt 2, Sayı 4, Sayfa 345-354, 2021.
- 4. Ersin, Ç., Yaz, M., Gökçe, H., “Upper limb robot arm system design and kinematic analysis”, El-Cezeri Journal of Science and Engineering, Cilt 7, Sayı 3, Sayfa 1320-1331, 2020.
- 5. Zawkan, M., Karim, A., Thamrin, N.M., “Servo motor controller using PID and graphical user interface on Raspberry Pi for robotic arm”, International Conference on Robotic Automation System 2021, Cilt 2319, Sayfa 1-10, 2021.
- 6. Tokel, Ç., “Design and implementation of a 4-axis RC servo driven robot manipülatör”, Master Thesis, Dokuz Eylül University, Institute of Science and Technology, İzmir, 2009.
- 7. Çelebi, A., Korkmaz, A., Yılmaz, T., Tosun, H., “Design and production of 6 axis robot arm by 3D printer”, International Journal of 3D Printing Technologies and Digital Industry, Cilt 3, Sayı 3, Sayfa 269-278, 2019.
- 8. Brassitos, E., Jalili, N., “Design and development of a compact high-torque robotic actuator for space mechanisms”, Journal of Mechanisms and Robotics, Cilt 9, Sayı 061002, Sayfa 1-11, 2017.
- 9. Wensing, P.M., Wang, A., Seok, S., Otten, D., Lang, J., Kim, S., “Proprioceptive actuator design in the MIT Cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots”, IEEE Transactions on Robotics, Cilt 33, Sayı 3, Sayfa 509-522, 2017.
- 10. Yin, H., Huang, S., He, M., Li, J., “A unified design for lightweight robotic arms based on unified description of structure and drive trains”, International Journal of Advanced Robotic Systems, Cilt 14, Sayı 4, Sayfa 1-14, 2017.
- 11. Rader, S., Kaul, L., Weiner, P., Asfour, T., “Highly integrated sensor-actuator-controller units for modular robot design”, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Sayfa 1-7, 2017.
- 12. Akdağ, M., “Design and analysis of robot manipulators by integrated CAE procedures”, Doctoral Thesis, Dokuz Eylül University, Graduate School of Natural and Applied Sciences, İzmir, Sayfa 68, 2008.
- 13. ForceUp Redüktörlü DC Motor, 2022, https://www.robotzade.com/Proton-12V-1000-RPM-Reduktorlu-DC-Motor,PR-1599.html
- 14. BTS7960b DC Motor Sürücü Devresi, 2022, https://www.robotistan.com/bts7960b-20-amper-motor-surucu-karti
- 15. Matejic, M.S., Blagojevic, M.Z., Matejic, M.M., “Dynamic behavior of a planetary reducer with double planet gears”, Mechanical Sciences, Cilt 12, Sayfa 997-1003, 2021.
Öz
Anahtar Kelimeler
Robotik Aktüatör Planet Dişli Kinematik Üç Boyutlu (3B) Yazıcı. Robotik Aktüatör Planet Dişli Kinematik Üç Boyutlu (3B) Yazıcı. Robotics Actuator Planetary Gear Kinematics 3D Printer.
Kaynakça
- 1. Koç, S., Doğan, C., “Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes”, Gümüşhane University Journal of Science and Technology, Cilt 12, Sayı 2, Sayfa 454-465, 2022.
- 2. Ghorbanpour, A., Richter, H., “Energy-optimal, direct-phase control of brushless motors for robotic drives”, Proceedings of the ASME 2020, Dynamic Systems and Control Conference, Sayfa 1-10, 2020.
- 3. Procter, S., Secco, E.L., “Design of a biomimetic BLDC driven robotic arm for teleoperation & biomedical applications”, Journal of Human, Earth, and Future, Cilt 2, Sayı 4, Sayfa 345-354, 2021.
- 4. Ersin, Ç., Yaz, M., Gökçe, H., “Upper limb robot arm system design and kinematic analysis”, El-Cezeri Journal of Science and Engineering, Cilt 7, Sayı 3, Sayfa 1320-1331, 2020.
- 5. Zawkan, M., Karim, A., Thamrin, N.M., “Servo motor controller using PID and graphical user interface on Raspberry Pi for robotic arm”, International Conference on Robotic Automation System 2021, Cilt 2319, Sayfa 1-10, 2021.
- 6. Tokel, Ç., “Design and implementation of a 4-axis RC servo driven robot manipülatör”, Master Thesis, Dokuz Eylül University, Institute of Science and Technology, İzmir, 2009.
- 7. Çelebi, A., Korkmaz, A., Yılmaz, T., Tosun, H., “Design and production of 6 axis robot arm by 3D printer”, International Journal of 3D Printing Technologies and Digital Industry, Cilt 3, Sayı 3, Sayfa 269-278, 2019.
- 8. Brassitos, E., Jalili, N., “Design and development of a compact high-torque robotic actuator for space mechanisms”, Journal of Mechanisms and Robotics, Cilt 9, Sayı 061002, Sayfa 1-11, 2017.
- 9. Wensing, P.M., Wang, A., Seok, S., Otten, D., Lang, J., Kim, S., “Proprioceptive actuator design in the MIT Cheetah: Impact mitigation and high-bandwidth physical interaction for dynamic legged robots”, IEEE Transactions on Robotics, Cilt 33, Sayı 3, Sayfa 509-522, 2017.
- 10. Yin, H., Huang, S., He, M., Li, J., “A unified design for lightweight robotic arms based on unified description of structure and drive trains”, International Journal of Advanced Robotic Systems, Cilt 14, Sayı 4, Sayfa 1-14, 2017.
- 11. Rader, S., Kaul, L., Weiner, P., Asfour, T., “Highly integrated sensor-actuator-controller units for modular robot design”, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Sayfa 1-7, 2017.
- 12. Akdağ, M., “Design and analysis of robot manipulators by integrated CAE procedures”, Doctoral Thesis, Dokuz Eylül University, Graduate School of Natural and Applied Sciences, İzmir, Sayfa 68, 2008.
- 13. ForceUp Redüktörlü DC Motor, 2022, https://www.robotzade.com/Proton-12V-1000-RPM-Reduktorlu-DC-Motor,PR-1599.html
- 14. BTS7960b DC Motor Sürücü Devresi, 2022, https://www.robotistan.com/bts7960b-20-amper-motor-surucu-karti
- 15. Matejic, M.S., Blagojevic, M.Z., Matejic, M.M., “Dynamic behavior of a planetary reducer with double planet gears”, Mechanical Sciences, Cilt 12, Sayfa 997-1003, 2021.
Ayrıntılar
| Birincil Dil | Türkçe |
|---|---|
| Konular | Makine Mühendisliği |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Yayımlanma Tarihi | 31 Ağustos 2023 |
| Gönderilme Tarihi | 29 Ocak 2023 |
| Yayımlandığı Sayı | Yıl 2023 Cilt: 7 Sayı: 2 |
Kaynak Göster
Uluslararası 3B Yazıcı Teknolojileri ve Dijital Endüstri Dergisi Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı ile lisanslanmıştır.