Robot Tasarımı İçin Geliştirilen Petri Ağları ile Davranış Modellemesi Yaklaşımının Bir Malzeme Taşıma Robotu Modeline Uygulanması

Yıl 2019, Cilt: 31 Sayı: 1, 249 - 258, 15.03.2019

Zühal Erden Macit Araz

Öz

Bu makalede sunulan çalışmada, mekatronik ürünlerin ve robotların davranışlarının kavramsal tasarım aşamasında modellenmesi, bilgisayarda benzetimi ve fiziksel olarak gerçeklenmesinden oluşan sistematik bir yöntemin geliştirilmesi, böylece bilgisayar destekli kavramsal robot tasarımına katkı sağlanması amaçlanmıştır. ‘Davranış Tabanlı Kavramsal Tasarım (DTKT)’ olarak adlandırılan bu yöntemde, tasarlanacak robotun istenen davranışı öncelikle fiziksel elemanlardan bağımsız olarak Petri ağları ile modellenmekte ve bilgisayarda benzetimi yapılmaktadır. Daha sonra robot davranışı, “masa üzeri tasarım modeli” adı verilen dağıtık bir fiziksel yapıda da benzetilmektedir.  Böylece tasarımın erken aşamasında istenen davranışın gerçeklenmesi mümkün olmaktadır. Geliştirilen yöntem laboratuvarda beş adet robot modelinin davranış tabanlı kavramsal tasarımına uygulanmış olup, makalede bu uygulamalardan biri olan malzeme taşıma robotu örneği sunulmuştur.

Anahtar Kelimeler

Davranış tabanlı kavramsal tasarım, robot tasarımı, Petri ağları, masa üzeri tasarım, kavramsal tasarım modellemes

Kaynakça

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