EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ

Öz

Bu çalışmada, özellikle katmanlı üretim sorunlarının üstesinden gelmek için geliştirilmiş, beş serbestlik derecesine sahip yeni bir sistem önerilmiştir. Önerilen sistemde, benzer sistemlerden farklı olarak, X ve Z eksenleri boyunca, sisteme dönme hareketleri dahil edilerek, geleneksel üç serbestlik dereceli yapı, beş serbestlik derecesine çıkarılmıştır. Belirtilen serbestlik derecelerinin sisteme eklenmesiyle, geleneksel sistemlerin aksine, parça yüzey bütünlüğünün iyileştirilmesi, üretim süresinden tasarruf ve üretimde kullanılan destek parça kullanımının azaltılması sağlanacaktır. Çalışmada, öncelikle, sistemin kavramsal tasarımı tanımlanmıştır. Daha sonra sistemin kinematik ve dinamik modellerini belirlemek için matematiksel analizler kullanılmıştır. Sistemin eksen hareket performansını değerlendirmek için oransal-integral-türev (PID) kontrol tekniği kullanılmış ve gerçek zamanlı test çalışmaları yapılmıştır. Bu çalışmanın literatüre temel katkısı, üretim teknolojilerine yeni bir bakış açısı sunmak, sanayideki dönüşümü yönlendirmek, gelecekteki üretim süreçlerini şekillendirmek ve endüstriyel yeniliği tetiklemektir. Önerilen sistem ile geleneksel eklemeli imalat yöntemlerine göre daha esnek, sürdürülebilir, uygun maliyetli, daha hassas ve yüksek iş hızlarına ulaşabilen bir üretim modeli olarak literatüre sunulmaktadır.

Anahtar Kelimeler

• Eklemeli İmalat
• Paralel Manipülatör
• 5 Serbestlik Derecesi
• 3D Yazıcı

MATHEMATICAL ANALYSIS AND REAL-TIME CONTROL OF A ROBOTIC SYSTEM WITH 5 DEGREES OF FREEDOM PARALLEL KINEMATICS STRUCTURE THAT CAN BE USED IN ADDITIVE MANUFACTURING TECHNOLOGIES

Öz

In this study, a new system with five degrees of freedom has been proposed to overcome additive manufacturing problems. In the proposed system, unlike similar systems, the traditional three-degree-of-freedom structure is increased to five degrees of freedom by including rotational movements along the X and Z axes. By adding the specified degrees of freedom to the system, part surface integrity will be improved, production time will be saved and the use of support parts used in production will be reduced. In the study, first of all, the conceptual design of the system is defined. Mathematical analyzes were then used to determine the kinematic and dynamic models of the system. To evaluate the axis movement performance of the system, proportional-integral-derivative (PID) control technique was used and real-time test studies were carried out. The main contribution of this study to the literature is to offer a new perspective on production technologies, direct the transformation in the industry, shape future production processes and trigger industrial innovation. The proposed system is presented in the literature as a production model that is more flexible, sustainable, cost-effective, more precise and can reach high work speeds compared to traditional additive manufacturing methods.

Anahtar Kelimeler

• Additive Manufacturing
• Parallel Manipulator
• 5 Degrees of Freedom (DOF)
• 3D Printer

Kaynakça

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