SCARA TIPI 3D YAZICI TASARIMI VE İMALİ

Yıl 2024, Cilt: 16 Sayı: 1, 127 - 140, 31.01.2024

Ahmet Saygın Öğülmüş Mustafa Tınkır

https://doi.org/10.29137/umagd.1371739

Öz

Bu çalışmada, kinematik ve dinamik analizlere dayalı olarak üç serbestlik dereceli bir SCARA tipi üç boyutlu FDM yazıcı tasarlanmıştır ve imal edilmiştir. Bir SCARA robotunun dinamik yetenekleri ile FDM üretim yöntemi birleştirilmiş ve açık kaynaklı yazılım kullanılarak benzersiz bir yazıcı sistemi elde edilmiştir. Kinematik hesaplamalar, geometrik eşitlikler kullanılarak analitik yöntemlerle gerçekleştirilmiştir. İleri kinematik ve ters kinematik denklemleri kontrol yazılımına girilerek açık döngü kontrol sistemi oluşturulmuştur. Küp ve prizma örneklerinin baskı işlemleri SCARA tipi üç boyutlu yazıcı ile gerçekleştirilmiştir. Analitik hesaplamalardan elde edilen veriler ve deneylerden elde edilen sonuçlar karşılaştırılmış ve istenen ve elde edilen baskılardaki hata oranları ve baskı kalitesine dayalı bulgular paylaşılmıştır. Literatürdeki akademik çalışmalar genellikle SCARA robotlarının dinamik hesaplamalarına, tasarımına ve kontrolüne odaklanmıştır ve özellikle son yıllarda doğa esinli algoritmaların uygulanması üzerinde durulmuştur. Bu çalışmada bir SCARA robotunun hareket kabiliyeti, FDM tipi üç boyutlu yazıcı üretim teknolojisiyle birleştirildiği bir hibrit yazıcı modeli uygulanmıştır. SCARA tipi üç boyutlu yazıcı, kinematik ve kinetik hesaplamalar yapıldıktan sonra üretilmiştir.

Anahtar Kelimeler

scara, üç boyutlu yazıcı, kinematik, kinetik analiz, tasarım, üretim

A SCARA-TYPE 3D PRINTER DESIGN AND EXPERIMENTAL VALIDATION

Öz

This study designed and produced a Selective Compliance Assembly Robot Arm (SCARA)-type three-dimensional Fused Deposition Modelling (FDM) printer with three degrees of freedom based on kinematic and dynamic analyses. The dynamic capability of a SCARA robot and the FDM production method were combined, and a unique printer system was obtained by using open-source software. The Kinematic Calculations were achieved by analytical methods by using geometrical equations. An open-loop control system was created by inputting forward kinematic and inverse kinematic equations to the control software. The printing processes of the Cube and Prism samples were carried out with the SCARA-type three-dimensional printer. The data obtained from the analytical calculations and the results obtained from the experiments were compared, and the error rates in the desired and obtained prints and findings that were obtained based on print quality were shared. Academic studies on SCARA in the literature have usually focused on the dynamic calculations, design and control of SCARA robots, and especially in recent years, implementation of nature-inspired algorithms. A unique printer system was obtained by using open-source software. Prints were taken from cube and prism samples, and the samples were compared to the data obtained from the analytical results.This study implemented a form of a hybrid printer model where the movement capability of a SCARA robot was combined with FDM-type three-dimensional printer production technology. The SCARA-type three-dimensional printer was produced after making kinematic and kinetic calculations.

Anahtar Kelimeler

SCARA, three-dimensional printer, kinematics, kinetic analysis, design, production.

Kaynakça

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