6 Serbestlik Dereceli Robotik Kolun Gelişmiş Simülasyon Teknikleriyle Kapsamlı Dinamik Analizi

Abstract

Bu makale, 6 serbestlik derecesine (6-DOF) sahip bir robotik kolun dinamik analizini, gelişmiş simülasyon teknikleri kullanarak detaylı bir şekilde sunmaktadır. Çalışma, robot kolun eklem hareketleri, yörünge takibi, yük taşıma, bozucu etkilerin reddi ve dinamik ortamlarda gezinme gibi çeşitli çalışma koşulları altındaki performansını değerlendirmeye odaklanmıştır. Kinematik ve dinamik modeller, Denavit-Hartenberg (D-H) parametreleri ve Lagrange denklemleri kullanılarak geliştirilmiş ve kolun hareket ve kuvvet etkileşimlerinin kapsamlı bir şekilde anlaşılmasını sağlamıştır. Eklem hareketlerine farklı genliklere sahip sinüzoidal girişler uygulanmış ve açısal yer değiştirme, hız, ivme ve tork için detaylı profiller elde edilmiştir. Sonuçlar, taban ekleminin daha geniş dönme hareketlerinden dolayı en büyük torklara maruz kaldığını, bilek eklemlerinin ise hassas kontrol gerektiren daha küçük ve sık ayarlamalar gerçekleştirdiğini ortaya koymaktadır. Çalışma, her bir eklemin benzersiz taleplerini karşılamak için özelleştirilmiş kontrol stratejilerinin ve aktüatör tasarımlarının önemini vurgulamaktadır. Bu bulgular, üretim, tıbbi prosedürler ve uzay araştırmaları gibi alanlarda daha verimli ve sağlam robotik sistemlerin geliştirilmesine katkı sağlamaktadır.

Keywords

• Robotik kol
• Dinamik analiz
• Tork analizi
• Robotik eklem dinamiği

Comprehensive Dynamic Analysis of a 6-DOF Robotic Arm Using Advanced Simulation Techniques

Abstract

This paper presents a detailed dynamic analysis of a six degrees of freedom (6-DOF) robotic arm using advanced simulation techniques in MATLAB Simulink. The study focuses on evaluating the robotic arm's performance under various operational conditions, including joint movements, trajectory tracking, payload handling, disturbance rejection, and navigation in dynamic environments. Kinematic and dynamic models were developed using the Denavit-Hartenberg (D-H) parameters and Lagrange equations, enabling a comprehensive understanding of the arm's motion and force interactions. Sinusoidal inputs with varying amplitudes were applied to the joints, producing detailed profiles for angular displacement, velocity, acceleration, and torque. The findings reveal that the base joint experiences the largest torques due to its role in broader rotational movements, while wrist joints exhibit smaller, more frequent adjustments required for precise control. The study emphasizes the importance of tailored control strategies and actuator designs to meet the unique demands of each joint. These insights contribute to the development of more efficient and robust robotic systems, with applications in manufacturing, medical procedures, and space exploration.

Keywords

• Robotic arm
• Dynamic analysis
• Torque analysis
• Robotic joint dynamics

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