Year 2020, Volume 8 , Issue 2, Pages 304 - 309 2020-05-26

Prototyping an Industrial Robot Arm for Deburring in Machining
Talaşlı İmalatta Çapakların Giderilmesi için Endüstriyel Robot Kol Prototiplemesi

Yusuf HAMİDA EL NASER [1] , Gökhan ATALI [2] , Durmuş KARAYEL [3] , Sinan Serdar ÖZKAN [4]


Deburring after production is an important problem for machining, casting and plastic forming in the manufacturing sector. The main subject of this study is to design a deburring robot arm. In the study, deburring operation has been performed by integrating a deburring tool at the end of the robot arm. To control the trajectory of deburring tool and optimum deburring force are two critical situations in such a special robot arm design. Since the parts that need to be cleaned are often not of uniform geometry and so the distribution of the burr and trajectory of robot arm will not uniform. Therefore, the robot arm that can follow this trajectory must have enough degrees of freedom. On the other hand, the cutting force between the deburring tool and the work piece and the magnitude of the normal force is also important. This force must be small so that it will not affect the structural rigidity of the arm and not damage the part and at the same time it must be big enough for deburring. This robot arm designed for deburring can also be used for industrial purposes when parameters are changed.

İmalat sektöründe gerek talaşlı imalat, gerekse döküm ve plastik şekil verme işlemlerinde üretim sonrası çapağın temizlenmesi önemli bir problemdir. Bu çalışmanın ana konusu çapak temizleyici bir robot kolun tasarlanmasıdır. Çalışmada bu işlem robot kolun uç kısmına çapak temizleyici entegre edilerek gerçekleştirilmektedir. Bu çalışmaya özel robot kol tasarımında, çapak temizleyicinin izleyeceği yörüngenin ve temizlemeye uygun kuvvetin kontrol edilebilmesi iki kritik durumdur. Temizlenmesi gereken parçalar çoğu zaman düzgün geometride olmayacağından çapağın dağılımı ve dolayısıyla robotun hareket yörüngesi de düzgün olmayacaktır. Bu nedenle bu yörüngeyi izleyebilecek robot kolun da yeterli serbestlik derecesine sahip olması gerekmektedir. Diğer taraftan çapak temizleyiciyle iş parçası arasında oluşan kesme kuvveti ve normal kuvvetin büyüklüğü de çok önemlidir. Zira bu kuvvetin robot kolun yapısal rijitliğini etkilemeyecek ve parçaya zarar vermeyecek kadar küçük, diğer taraftan çapağı temizlemeye yetecek kadar da büyük olması gerekmektedir. Çapak temizleme amaçlı olarak tasarlanan bu robot kol bir prototip olmakla birlikte, parametreler değiştirildiğinde endüstriyel amaçlar içinde kullanılabilecek niteliktedir.

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Primary Language en
Subjects Engineering
Published Date Mayıs 2020
Journal Section Articles
Authors

Orcid: 0000-0003-4757-6288
Author: Yusuf HAMİDA EL NASER (Primary Author)
Institution: Sakarya University of Applied Sciences
Country: Turkey


Orcid: 0000-0003-1215-9249
Author: Gökhan ATALI
Institution: Sakarya University of Applied Sciences
Country: Turkey


Orcid: 0000-0001-9326-466X
Author: Durmuş KARAYEL
Institution: Sakarya University of Applied Sciences
Country: Turkey


Orcid: 0000-0003-3509-2374
Author: Sinan Serdar ÖZKAN
Institution: Sakarya University of Applied Sciences
Country: Turkey


Supporting Institution Sakarya University
Project Number 2017-50-01-009
Thanks This study was supported by Sakarya University Scientific Research Projects Commission with the name “Industrial Purpose Robot Arm Design and Production” within the scope of Master Thesis Projects numbered 2017-50-01-009.
Dates

Publication Date : May 26, 2020

Bibtex @research article { apjes601867, journal = {Akademik Platform Mühendislik ve Fen Bilimleri Dergisi}, issn = {}, eissn = {2147-4575}, address = {}, publisher = {Academic Platform}, year = {2020}, volume = {8}, pages = {304 - 309}, doi = {10.21541/apjes.601867}, title = {Prototyping an Industrial Robot Arm for Deburring in Machining}, key = {cite}, author = {Hami̇da El Naser, Yusuf and Atalı, Gökhan and Karayel, Durmuş and Özkan, Sinan Serdar} }
APA Hami̇da El Naser, Y , Atalı, G , Karayel, D , Özkan, S . (2020). Prototyping an Industrial Robot Arm for Deburring in Machining . Akademik Platform Mühendislik ve Fen Bilimleri Dergisi , 8 (2) , 304-309 . DOI: 10.21541/apjes.601867
MLA Hami̇da El Naser, Y , Atalı, G , Karayel, D , Özkan, S . "Prototyping an Industrial Robot Arm for Deburring in Machining" . Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 8 (2020 ): 304-309 <https://dergipark.org.tr/en/pub/apjes/issue/52467/601867>
Chicago Hami̇da El Naser, Y , Atalı, G , Karayel, D , Özkan, S . "Prototyping an Industrial Robot Arm for Deburring in Machining". Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 8 (2020 ): 304-309
RIS TY - JOUR T1 - Prototyping an Industrial Robot Arm for Deburring in Machining AU - Yusuf Hami̇da El Naser , Gökhan Atalı , Durmuş Karayel , Sinan Serdar Özkan Y1 - 2020 PY - 2020 N1 - doi: 10.21541/apjes.601867 DO - 10.21541/apjes.601867 T2 - Akademik Platform Mühendislik ve Fen Bilimleri Dergisi JF - Journal JO - JOR SP - 304 EP - 309 VL - 8 IS - 2 SN - -2147-4575 M3 - doi: 10.21541/apjes.601867 UR - https://doi.org/10.21541/apjes.601867 Y2 - 2020 ER -
EndNote %0 Akademik Platform Mühendislik ve Fen Bilimleri Dergisi Prototyping an Industrial Robot Arm for Deburring in Machining %A Yusuf Hami̇da El Naser , Gökhan Atalı , Durmuş Karayel , Sinan Serdar Özkan %T Prototyping an Industrial Robot Arm for Deburring in Machining %D 2020 %J Akademik Platform Mühendislik ve Fen Bilimleri Dergisi %P -2147-4575 %V 8 %N 2 %R doi: 10.21541/apjes.601867 %U 10.21541/apjes.601867
ISNAD Hami̇da El Naser, Yusuf , Atalı, Gökhan , Karayel, Durmuş , Özkan, Sinan Serdar . "Prototyping an Industrial Robot Arm for Deburring in Machining". Akademik Platform Mühendislik ve Fen Bilimleri Dergisi 8 / 2 (May 2020): 304-309 . https://doi.org/10.21541/apjes.601867
AMA Hami̇da El Naser Y , Atalı G , Karayel D , Özkan S . Prototyping an Industrial Robot Arm for Deburring in Machining. APJES. 2020; 8(2): 304-309.
Vancouver Hami̇da El Naser Y , Atalı G , Karayel D , Özkan S . Prototyping an Industrial Robot Arm for Deburring in Machining. Akademik Platform Mühendislik ve Fen Bilimleri Dergisi. 2020; 8(2): 304-309.