Determination of Delta Robot Limb Sizes by Optimization

Determination of Delta Robot Limb Sizes by Optimization
اسم المؤلف
İsmail Hakkı ŞANLITÜRK , Ali İNAN 
التاريخ
30 نوفمبر 2020
المشاهدات
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بحث بعنوان
Determination of Delta Robot Limb Sizes by Optimization
İsmail Hakkı ŞANLITÜRK , Ali İNAN
1Department of Mechanical Engineering
Fırat University, Elazig
[email protected]
2Department of Mechanical Engineering
Bingol University, Bingol
[email protected]
Abstract
In this study, the current motor torque of the Delta robot design
It is aimed to be done optimally.
Design, the connection of the driven arm to the parallel arm,
two ball joints with springs as usual
It is made with rotary joints instead of being pulled. Torque
optimization was done using the Jacobian matrix.
As a result of the simulation, the entire working volume of the robot
It has been observed that it can reach the points.
Discussion and Future Studies
According to Figure 9, the robot is located at the bottom of a corner of the working volume.
to go up from the point, to the lower point of the far corner
needs 1.4s for. Accordingly robot weight
Pieces up to 1kg will be held every 3s.
It shows that it can be used in (pick & place) operations.
Delta Robot Uzuv Boyutlarının Optimizasyonla Tespiti
İsmail Hakkı ŞANLITÜRK1, Ali İNAN2
1Makine Mühendisliği Bölümü
Fırat Üniversitesi, Elazığ
[email protected]
2Makine Mühendisliği Bölümü
Bingöl Üniversitesi, Bingöl
[email protected]
Abstract
In this study, the current motor torque of the Delta robot design
It is aimed to be done optimally.
Design, the connection of the driven arm to the parallel arm,
two ball joints with springs as usual
It is made with rotary joints instead of being pulled. Torque
optimization was done using the Jacobian matrix.
As a result of the simulation, the entire working volume of the robot
It has been observed that it can reach the points.
Discussion and Future Studies
According to Figure 9, the robot is located at the bottom of a corner of the working volume.
to go up from the point, to the lower point of the far corner
needs 1.4s for. Accordingly robot weight
Parts up to 1kg will be held every 3s.
It shows that it can be used in (pick & place) operations.
Özetçe
Bu çalışmada Delta robotun tasarımının mevcut motor torkunu
aşmayacak şekilde optimum olarak yapılması amaçlanmıştır.
Tasarım, tahrik edilen kolun paralel kola bağlantısı,
alışılageldiği gibi iki adet küresel mafsalın yaylarla
çektirilmesi yerine döner mafsallarla yapılmıştır. Tork
optimizasyonu Jakobiyen matris kullanılarak yapılmıştır.
Simülasyon sonucunda robotun, çalışma hacmindeki bütün
noktalara ulaşabildiği görülmüştür.
Tartışma ve Gelecek Çalışmalar
Şekil 9’a göre robot, çalışma hacminin bir köşesinin alt
noktasından yukarıya çıkıp, uzak köşenin alt noktasına inmek
için 1,4s’ye ihtiyaç duymaktadır. Buna göre robot ağırlığı
1kg’ye kadar olan parçaların, 3s’de bir yapılacak tut-yerleştir
(pick&place) işlemlerinde kullanılabileceğini göstermektedir.
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