APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR

Yıl 2018, Cilt: 2 Sayı: 2, 79 - 87, 15.05.2018

Hüseyin Mutlu İskender Özkul

https://doi.org/10.31127/tuje.345351

Öz

Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a twopoint, two-velocity and three point-position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically

Anahtar Kelimeler

Mechanism, Manipulator, robotic

Kaynakça

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