Design and Kinematic Analysis of a Robotic Arm Capable of MIG Welding

Year 2025, Volume: 8 Issue: 1, 353 - 374, 17.01.2025

Dilşad Akgümüş Gök , Mehmet Furkan Özkan , Haydar Emre Karaman , Mohammad Sami Mohammad Khattab

https://doi.org/10.47495/okufbed.1509477

Abstract

Unmanned manufacturing occupies a significant place in today's world. The success and applicability of manufacturing in unmanned areas have been proven. Various tools have been enriched in terms of hardware and adapted for manufacturing tasks. The rapid development of technology offers the chance to use more hardware for these hardware-enriched tools. The most intense studies in these hardware are conducted on robotic arms. This article has been prepared on the design of a robotic arm capable of MIG welding for various applications in the manufacturing sector, especially in the automotive and defense industries. A MIG welding robotic arm design that can be mounted under or over the system in very different manufacturing areas, considering the designs, has been made. The characteristics of unmanned systems used in the design have been taken into account. The kinematic model was created by calculating the general transformation, matrix, all joints, and assemblies. The robotic arm, designed in Solidworks and material selection made, was analyzed for deformation, motion, and deviation under certain loads using Solidworks and Ansys programs. The analyses conducted on the first and second joints showed that the robotic arm can perform the desired welding tasks under the loads it is subjected to.

Keywords

Robotic Arm, MIG Welding, Kinematic Analysis

MIG Kaynağı Yapabilen Robot Kolun Tasarımı ve Kinematik Analizi

Abstract

İnsansız imalat günümüzde önemli yer kaplamaktadır. İmalat insansız olduğu her alanda başarısını ve uygulanabilirliği kanıtlanmıştır. Çeşitli araçlar donanımsal yönden zenginleştirilmiş ve imalat içi görevlere uygun hale getirilmiştir. Teknolojinin hızlı gelişimi donanımsal olarak zenginleştirilen bu araçlar için daha fazla donanım kullanma şansı sunmaktadır. Bu donanımlarda en yoğun çalışmalar robot kollar üzerine yapılmaktadır. Bu makale imalat sektöründe, başta otomotiv ve savunma sanayi olmak üzere çeşitli uygulamalar için kullanılmak üzere MIG kaynağı yapabilen robot kol tasarımı üzerine hazırlanmıştır. Çok farklı imalat alanlarında, sistemin altına ya da üstüne tasarımları dikkate alınarak monte edilebilecek bir MIG kaynak robot kolu tasarımı yapılmıştır. Tasarımda insansız kullanılan sistemlerin özellikleri dikkate alınmıştır. Kinematik model, genel dönüşüm, matris, tüm eklem ve birleştirmeleri hesaplanarak oluşturuldu. Solidworks programında tasarımı ve malzeme seçimi yapılan robot kolun, Solidworks ve Ansys programlarını kullanarak belirli yükler altında deformasyon, hareket ve sapma analizleri yapıldı. Bir numaralı eklem ve iki numaralı eklem üzerine yapılan analizler sonucu robot kolun maruz kaldığı yüklerde istenilen kaynak görevlerini yapabileceği görülmüştür.

Keywords

Robot Kol, MIG Kaynağı, Kinematik Analiz

References

• Akgümüş Gök D., Güdar B. Computational analysis wearable glove produced with FDM technology. Proceedings of the International Conference on Science, Engineering Management and Information Technology (SEMIT) 2023; 134, Ankara.
• Bakırcı M., Demiray A. Pre-production design of a robotic arm mounted on an unmanned aerial vehicle (UAV). Computational Intelligence, Data Analytics and Applications 2023; 1-8.
• Barnett J., Duke M., Au CK., Lim SH. Work distribution of multiple Cartesian robot arms for kiwifruit harvesting. Computers and Electronics in Agriculture 2020; 169(105202): 1-9.
• Can E., Stachel H. A planar parallel 3-RRR robot with synchronously driven cranks. Mechanism and Machine Theory 2014; 79: 25-42.
• Çelebi, A., Korkmaz A., Yılmaz T., Tosun H. Design and production of 6 axis robot arm by 3D printer. International Journal of 3D Printing Technologies and Digital Industry 2019; 3(3): 269-278.
• Doruk E., Pakdil M., Çam G., Durgun İ., Kumru UC. Otomotiv sektöründe direnç nokta kaynağı uygulamaları. Mühendis ve Makina 2016; 57(673): 2-6.
• Efe E., Özcan M., Haklı H. Building and cost analysis of an industrial automation system using industrial robots and PLC integration. European Journal of Science and Technology 2021; 28: 1-10.
• Ertürkmen E., Noori AR. Free vibration analysis of curved castellated beams with different geometric web openings by the finite element method. Gümüşhane University Journal of Science and Technology 2023; 13(4): 1019-1032.
• Farah S., Anderson DG., Langer R. Physical and mechanical properties of PLA, and their functions in widespread applications - A comprehensive review. Advanced Drug Delivery Reviews 2016; 107: 367-392.
• Karaca F., Akmeşe F., Ünal E. Kinetic and kinematic analysis of the lower extremity stand to sit. International Journal of Innovative Engineering Applications 2021; 5(1): 32-35.
• Karacan AN., Şahin Hİ., Özmen M. Multi-objective assembly line balancing with human-robot collaboration. Adıyaman University Journal of Engineering Sciences 2022; 16: 10-36.
• Korkut I., Yaşar SA. Design and kinematic analysis of a RRPR robot arm. International Journal of Innovative Research in Engineering & Management (IJIREM) 2016; 3(6): 491-492.
• Köse C., Tatlı Z. The effect of welding speed on the mechanical and microstructure properties of robotic GMAW welded 5754 aluminium alloy. NWSA-Technological Applied Sciences 2015; 2-4.
• Roshanianfard A., Noguchi N. Kinematics analysis and simulation of a 5DOF articulated robotic arm applied to heavy products harvesting. Journal of Agricultural Sciences 2017; 24(2018): 91-104.
• Nurveren K., Gündüz BB. Investigation of microstructure and mechanical properties of 6082 aluminium alloy after MIG welding. Ömer Halisdemir University Journal of Engineering Sciences 2018; 7(2): 909-916. Pamuk G., Kemiklioğlu U., Sayman O., Özdemir O. Low velocity impact response of biodegradable PLA composites reinforced by reclaimed cotton preforms. Textile and Apparel 2016; 26(3): 321-324.
• Sarıyıldız SÖ., Demirhan A. Categorizing objects with image processing techniques and robot arm. Uludağ University Journal of The Faculty of Engineering 2021; 26(2): 547-554.
• Suarez A., Soria PR., Heredia G., Arrue BC., Ollero A. Anthropomorphic, conformable and lightweight dual arm system for air manipulation. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2017; 992-997. IEEE, Canada.
• Tınkır M., Sezgen HÇ. Linear static analysis of hydraulic cylinder via finite element method. Ömer Halisdemir University Journal of Engineering Sciences 2017; 6(1): 3-5.
• Türker M., Tosun M. Modern welding technologies used in the aerospace industry. Proceedings of the X. Welding Technology National Congress and Exhibition 2017; 123-130.