6 Serbestlik Derecesine Sahip 3-CCC Tipi Robot İçin İki Tasarım Önerisi ve Çalışma Uzayı Karşılaştırması

Year 2022, Volume: 25 Issue: 4, 1621 - 1632, 16.12.2022

Savaş Yılmaz Serdar Küçük Metin Toz

https://doi.org/10.2339/politeknik.931177

Abstract

Bu çalışmada 6 serbestlik derecesine sahip 3D3A sınıfı paralel robot yapılarından 3-CCC tipi asimetrik paralel mekanizmanın ters kinematik analizleri yapılmış ve iki adet tasarım önerisinde bulunulmuştur. Önerilen tasarımların çalışma uzayları hesaplanmıştır. Tasarımlarda D_4 tipi kısıt ile sağlanan CPAC (P: Aktif prizmatik eklem) bacak yapısı ve A_1 tipi kısıt ile sağlanan CPAC (A: Aktif dönel eklem) bacak yapısı kullanılmıştır. Ayrıca tek bir bacakta iki aktif eklem kullanılarak elde edilen CPAC (A: Aktif dönel eklem, P: Aktif prizmatik eklem) bacak yapısı da tasarımlarda kullanılmıştır. Bu robot tipi literatürde 3-CCC mekanizma olarak da geçmektedir. İlk tasarım önerisinde sabit ve hareketli platformlar kenarları silindirik eklem olan eşkenar üçgenler olacak şekilde belirlenmişlerdir. Platformlar birbirine 3 adet CCC bacak tipiyle bağlanmıştır. İkinci tasarım önerisinde XY, XZ ve YZ düzlemlerine yerleştirilmiş olan sabit silindirik eklemler ile nokta uç işlevcisine sahip olan hareketli platform, 3 adet CCC bacak tipiyle bağlanmıştır. Sabit ve haraketli platformda kullanılan silindirik eklem uzunlukları iki tasarımda da aynı tutulmuştur. Çalışma uzayları hesaplanırken uç işlevcinin ulaşabileceği sınır noktaları belirlenerek içeride kalan bölge üzerinde 5 mm aralıklarla tarama yapılmış ve ulaşılabilirliği kontrol edilmiştir. Hareketli platform önce sabit 0o tutularak sonra -30o +30o açıları arasında döndürülerek çalışma uzayları hesaplanmıştır. Elde edilen sonuçlarla, farklı tasarımlar yapılarak çalışma uzayının genişletilebildiği görülmüştür. 

Keywords

6 SD, çalışma uzayı, ters kinematik analiz, asimetrik paralel robot

Two Design Proposals and Working Space Comparison for 3-CCC Type Robot with 6 Degrees of Freedom

Abstract

In this study, inverse kinematic analysis of 3-CCC type asymmetric parallel mechanism, which is one of the 3D3A class parallel robot structures with 6 degrees of freedom, was made and two design proposals were performed. Working spaces of the proposed designs have been calculated. In the designs, CPAC (P: Active prismatic joint) leg structure provided with D4 type constraint and CPAC (A: Active rotational joint) leg structure provided with A1 type constraint were used. In addition, the CPAC (A: Active rotational joint, P: Active prismatic joint) leg structure obtained by using two active joints in a single leg was also used in the designs. This robot type is also referred to as a 3-CCC mechanism in the literature. In the first design proposal, the fixed and mobile platforms were determined to be equilateral triangles with cylindrical joints. Platforms are connected to each other by 3 CCC leg types. In the second design proposal, the movable platform with fixed cylindrical joints placed in XY, XZ and YZ planes and pointwise end-effector is connected with 3 CCC leg types. The lengths of the cylindrical joints used in the fixed and mobile platform were kept the same in both designs. While calculating the working spaces, the limit points that the end functionalist can reach were determined and the inside area was scanned at 5 mm intervals and its accessibility was checked. Working spaces are calculated by first holding the mobile platform fixed at 0o and then rotating it between -30o + 30o angles. With the results obtained, it has been seen that the working space can be expanded with different designs.

Keywords

6-DOF, working space, inverse kinematic analysis, asymmetric parallel robot

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