Abstract
In this study, the structure of the spherical coordinate system design and implementation of robotic manipulator arm has been realized. The system, which is on the two platforms and three dimensional spaces, is designed to be capable of maximum mobility. Rotational movements of the platforms have been controlled by the servo motors. Also, linear motion is provided by single acting pneumatic cylinder. Materials pick and place process is carried out by a pneumatic gripper. Axis position control of the system is been realized by the Siemens Simotion D-425 multi axis motion controller. As control software is used the Simotion Scout program. The designed system has given good results for different operating scenarios.
Abstract
Bu çaly?mada, küresel koordinat sistem yapysynda robot manipülatör kol tasarymy ve uygulamasy gerçekle?tirilmi?tir. Sistem, iki platform üzerinde ve üç boyutlu uzayda maksimum hareket kabiliyetine sahip olarak tasarlanmy?tyr. Dönme hareketleri platformlaryn konumunu kontrol eden, servo motorlar ile do?rusal hareket ise tek etkili pnömatik silindir aracyly?yyla sa?lanmy?tyr. Malzeme tutma-byrakma i?lemi son etki elemany olan gripper tarafyndan yapylmaktadyr. Sistemin belirtilen çaly?ma eksenlerindeki konum kontrolü, Siemens Simotion D-425 çok eksenli hareket kontrolörü ile yapylmy?tyr. Kontrol yazylymy olarak ise Simotion Scout programy kullanylmy?tyr. Olu?turulan çe?itli çaly?ma senaryolaryna ait uygulamalarda, sistemin ba?aryly sonuçlar verdi?i görülmü?tür.
Details
| Primary Language | Turkish |
|---|---|
| Journal Section | Computer Engineering |
| Authors | |
| Publication Date | February 1, 2011 |
| Published in Issue | Year 2011 Volume: 6 Issue: 1 |