3D Yazılmış Açık Kaynak Kodlu İnsansı Robot Tasarımı

Yıl 2022, Cilt: 11 Sayı: 2, 411 - 420, 30.06.2022

Levent Paralı Ali Sarı Mehmet Esen

https://doi.org/10.17798/bitlisfen.998006

Öz

Günümüzde, insanlara hizmet etmek için çeşitli amaçlarla kullanılan büyük yeteneklere sahip insansı robotlar, hayatımızın ayrılmaz bir parçası haline gelmiştir. Bu çalışmada, açık kaynaklı bir 3D yazıcı ile üretilen düşük maliyetli bir insansı robot geliştirdik. İlk olarak, insansı robotun 3D-CAD modeli, Fransız bir heykeltıraş ve tasarımcı olan Gael Langevin tarafından tasarlanan “InMoov” projesine ait kaynak kodları kullanılarak meydana getirildi. İnsansı robot, PLA (Poli-Laktik Asit) hammaddesine dayanan yaklaşık 685 adet parça içerir. Bundan sonra, python programlama dili ile kontrol edilen gömülü kontrolörler mimarisine dayanan yeni bir elektronik sistem tasarlandı. Sesli komutların yardımıyla kontrol edilen bu robotik platform, insanlarla iletişim kurma yeteneğine sahiptir. Ayrıca bu çalışmada, akıllı bir eldivenden aldığı komutlara göre, nesneleri kavrayabilen, tutabilen yetenekli protez bir el özel olarak geliştirilmiştir. Geliştirilen bu insansı robot, mevcut ticari tabanlı insansı robotlar ile karşılaştırıldığında, sadece düşük maliyetli değil aynı zamanda yeni gelişmelere de açık olan bir altyapıya sahiptir.

Anahtar Kelimeler

3D Yazıcı, İnsansı Robot, Python, Ses Tanıma

Design of a 3D Printed Open Source Humanoid Robot

Öz

Nowadays, humanoid robots with great capabilities used in a variety of purposes to serve humans have become an integral part of our lives. In this study, we have developed a low-cost humanoid robot that can be fabricated with an open-source 3D printer. Firstly, the 3D-CAD model of the humanoid robot was created using source codes of the “InMoov” project which is originated by Gael Langevin who works as a designer on his project since 2012. The humanoid robot involves approximately 685 parts built from the PLA (Poly-Lactic Acid) raw material. After that, a new electronics system based on the embedded controllers which have been controlled with the python programming language has been designed. This robotic platform controlled with the help of voice commands has the capability to communicate with people. Furthermore, a skilled prosthetic hand controlled according to the commands from a smart glove, can grasp and holds objects, have been specially developed in this study. When comparing to the existing commercial humanoid robots, this humanoid robot developed as specific has a substructure which is not only low cost but also open to new improvements as well.

Anahtar Kelimeler

3D printing, Humanoid robot, Skillful hand, Raspberry pi 3

Kaynakça

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