Üç Döner Mafsallı Düzlemsel Manipülatörün (3RM) Parametrik Pozisyon Denklemlerini Kullanarak Bir Dört Çubuk Mekanizmasının Parametrik Pozisyon Denklemlerinin Elde Edilmesi

Year 2021, Volume: 9 Issue: 1, 8 - 16, 02.03.2021

Orhan Erdal Akay

https://doi.org/10.36306/konjes.715768

Abstract

Bir dört çubuk mekanizmasında, kol uzvu sabit bir açısal hız ile dönerken, diğer iki uzuv sürekli değişen açısal hızlara sahiptir. Bir 3RM mekanizması, dört çubuk mekanizmasına dönüştürülmek istenirse, biyel uzvunun her iki ucundaki döner aktuatörlerin değişken açısal hızlarının doğru olarak belirlenmesini gerekir. 3RM’nin kartezyen koordinatlarını veren genel parametrik denklem seti serbestlik derecesi sınırlanarak dört çubuk mekanizması için kullanılabilecek şekilde düzenlenebilir. Bu durumda kol uzvu sabit bir açısal hız ile dönerken, biyel uzvunun her iki ucundaki aktuatörlerin açısal hızları belirlenmelidir. Aktüatörlerin açısal hızları, geometrik parametreleri kol-sarkaç çalışmasına göre seçilen bir dört çubuk mekanizması için WorkingModel2D (WM2D) "dinamik hareket simülasyon yazılımı" kullanılarak elde edilmiştir. Açısal hız verileri kullanılarak, biyel uzvuna bağlı döner aktuatörlerin açısal hızlarını ifade eden polinomlardaki bilinmeyen katsayılar Mathematica yazılımı kullanılarak bulunmuştur. WM2D’den elde edilen yörünge ve açısal hız verileri, yörünge ve açısal hız denklemlerinin sonuçları karşılaştırılmış ve elde edilen sonuçların kabul edilebilir seviyelerde olduğu bulunmuştur.

Keywords

Parametrik Model, Dört Çubuk Mekanizması, 3R Manipulatör, Ters Kinematik Çözüm

Thanks

Sağlıklı günler dilerim...

OBTAINING THE PARAMETRIC POSITION EQUATIONS OF A FOUR-BAR MECHANISM USING THE PARAMETRIC POSITION EQUATIONS OF THE PLANAR MANIPULATOR WITH 3 REVOLUTE JOINTS (3RM)

Abstract

In a four-bar mechanism, the crank link rotates at a constant angular velocity, while the other two links have constantly changing angular velocities. If it is desired to convert a 3RM into a four-bar mechanism, the variable angular velocities of the rotary actuators at both ends of the coupler link should be accurate. The general parametric set of equations that give the cartesian coordinates of 3RM can be arranged so that they can be used for the four-bar mechanism by limiting the degree of freedom. In this case, the angular velocities of the actuators on both ends of the coupler link should be determined while the crank link rotates at a constant angular speed. Angular velocities of actuators have been obtained using the WorkingModel2D (WM2D) "dynamic motion-simulation software" for a four-bar mechanism, whose geometric parameters have been selected as the crank-rocker. Using the angular velocity data, unknown coefficients in polynomials expressing the angular velocities of the rotary actuators connected to the coupler link have been found using Mathematica software. The trajectory and angular velocity data have been obtained from WM2D, the results of trajectory and angular velocity equations have been compared and the results have been at acceptable levels.

Keywords

Parametric Model, Four Bar Mechanism, 3R Manipulator, Inverse Kinematic Solution

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