PLANET REDÜKTÖRLÜ ROBOTİK AKTÜATÖR TASARIMI VE ÜÇ BOYUTLU (3B) YAZICI İLE İMALATI

Year 2023, , 161 - 168, 31.08.2023

Ahmet Burak Tatar

https://doi.org/10.46519/ij3dptdi.1244172

Cited By: 1

Abstract

Bu çalışmada, eklemli robotik sistemlerde kullanılması amacıyla planet redüktör yapılı eklem tahrik ünitesi tasarlanmıştır. Aktüatör olarak ifade edilen robot eklem tahrik ünitesinin yapısında; tahrik motoru, redüksiyon sistemi, motor kontrol ünitesi ve geri bildirim ünitesi (sensör, enkoder, potansiyometre vb.) yer almaktadır. Eklem bacaklı veya manipülatör yapılı robotik sistemlerin eklem hareketleri için yüksek torklu ve hızlı tepki verebilecek tahrik sistemleri tercih edilmektedir. Kontrol ve kullanım kolaylığı açısından tahrik motoru olarak DC motor kullanılmıştır. Eklemlerde yüksek tork ve hız elde edebilmek için planet (gezegen) dişli redüktör sistemi tasarlanmıştır. 3 boyutlu (3B) yazıcılar yardımıyla PLA malzemeden imal edilecek olan planet redüktörün, kullanılacak motor, sürücü ve enkoder çeşidine göre tasarlanarak ilgili uygulamalarda kullanıma sunulması amaçlanmıştır. Hedeflenen redüktör tahvil oranına göre planet dişlilerin kinematik analizi gerçekleştirilmiş, robotik sistemlerde verimli kullanılabilmesi için uygun tasarım sonucu eklem tahrik sistemi oluşturulmuştur.

Keywords

Robotik, Aktüatör, Planet Dişli, Kinematik, Üç Boyutlu (3B) Yazıcı., Robotics, Actuator, Planetary Gear, Kinematics, 3D Printer.

PLANETARY GEARED ROBOTIC ACTUATOR DESIGN AND MANUFACTURING WITH 3D PRINTER

Abstract

In this study, a planetary reducer joint drive unit was designed for use in articulated robotic systems. In the structure of the robot joint drive unit, which is expressed as an actuator; drive motor, reduction system, motor control unit and feedback unit (sensor, encoder, potentiometer, etc.). High torque and fast response propulsion systems are preferred for the joint movements of arthropod or manipulator structured robotic systems. In terms of control and ease of use, DC motor is used as the drive motor. A planetary gear reducer system has been designed to achieve high torque and speed at the joints. The planetary gearbox, which will be manufactured from PLA material with the help of 3D printers, is designed according to the type of motor, driver and encoder to be used, and it is aimed to be used in related applications. The kinematic analysis of the planetary gears was carried out according to the targeted gearbox ratio, and a joint drive system was created as a result of the appropriate design so that it can be used efficiently in robotic systems.

Keywords

Robotics, Actuator, Planetary Gear, Kinematics, 3D Printer.

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