Tekil konumlardan geçen paralel robotlar için hareket planlamasında optimizasyon

Year 2017, Volume: 32 Issue: 4, 1089 - 1096, 08.12.2017

Mustafa Özdemir

https://doi.org/10.17341/gazimmfd.369403

Cited By: 1

Abstract

Paralel
robotlar seri robotlara kıyasla pek çok avantaja sahiptir. Bu nedenle,
üretimden cerrahiye oldukça geniş bir alanda kullanılmaktadırlar. Ancak sahip
oldukları Tip 2 tekillikler nedeniyle çalışma uzayları küçüktür. Bu probleme
bir çözüm olarak literatürde tutarlı hareket planlaması önerilmiştir. Bu sayede
bir paralel robot tekil konumlardan sorunsuzca geçebilmekte ve çalışma uzayının
tamamını kullanabilmektedir. Ancak, bu yöntemin en büyük dezavantajı robotun uç
noktasının yörüngesi üzerinde ileri-geri hareket etmesine yol açabilmesidir.
Bu, verimlilik açısından kesinlikle istenmeyecek bir durumdur. Bu makalede söz
konusu problemi önlemeye yönelik bir teorem geliştirilmiş ve ispatlanmıştır.
Böylece tutarlı hareket planlaması yöntemi optimize edilerek paralel robotların
daha verimli ve etkin bir şekilde kullanılmalarına olanak sağlanmıştır.

Keywords

Paralel robot, hareket planlaması, tekillik, optimizasyon

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