PARALLEL JAW ROBOTIC GRIPPER DESIGN AND PRODUCTION WITH ADDITIVE MANUFACTURING METHOD BY USING HORIZONTAL AND VERTICAL RACK AND PINION GEAR MECHANISM

Öz

The aim of this paper is to develop original robotic gripper design that can be produced by additive manufacturing method for the mobile warehouse robotic system. There are different types of actuator and mechanism based robotic gripper designs that can be used to moving object in the robotic industry. The manufacturing processes of complex geometry part designs using traditional manufacturing methods create long time requirements, as they are costly and often require multiple manufacturing processes. For this reason, different types of electromechanical robotic gripper systems have been examined. The parallel jaw robotic gripper system that can be produced with additive manufacturing method has been developed by integrating different working principles into the design. Target volume value of the object was determined as 18×25×10 cm3 and target payload was determined as 1 kg. The designed and structurally analyzed rack-pinion gear mechanisms are manufactured with an additive manufacturing method with ABS filament material. The functionality of the robotic grippers, which are produced via additive manufacturing technology, has been compared.

Anahtar Kelimeler

• Robot Gripper Design
• Rack and Pinion Gears Mechanism
• Additive Manufacturing Method

YATAY VE DİKEY KREMAYER-PİNYON DİŞLİ MEKANİZMALARI KULLANILARAK PARALEL ÇENELİ ROBOTİK TUTUCU TASARIMI, YAPISAL ANALİZİ VE EKLEMELİ İMALAT YÖNTEMİ İLE ÜRETİMİ

Öz

Endüstriyel robotlarda uç etkileyiciler vasıtasıyla hedef nesne hareketini sağlamak için kullanılan farklı tipte eyleyici ve mekanizma tabanlı robotik tutucu tasarımları bulunmaktadır. Geleneksel imalat yöntemleri kullanılarak karmaşık geometrili parça tasarımlarının imalat süreçleri maliyetli ve çoğu zaman birden fazla imalat sürecine ihtiyaç duyduğu için uzun zaman ihtiyaçları doğurmaktadır. Bu sebepten ötürü farklı tipteki elektromekanik robotik tutucu tasarımları incelenmiş ve farklı çalışma prensipleri tasarıma entegre edilerek eklemeli imalat yöntemi ile imal edilebilecek iki farklı paralel çeneli robotik tutucu tasarımı geliştirilmiştir. Robotik tutucular tarafından kavranacak nesne hedef hacmi 18×25×10 cm3 ve taşıma ağırlığı 1 kg olacak şekilde tasarım parametreleri belirlenmiştir. Yatay ve dikey kremayer-pinyon dişlileri kullanılarak iki tip paralel çeneli robotik tutucu tasarımı gerçekleştirilmiştir. Tasarımı ve yapısal analizi gerçekleştirilen kremayer-pinyon dişli mekanizmaları ABS filament malzemesi ile eklemeli imalat yöntemi ile üretilmiştir. Prototip üretimi eklemeli imalat yöntemi ile gerçekleştirilen robotik tutucuların işlevsellikleri karşılaştırılmıştır.

Anahtar Kelimeler

• Robotik Tutucu Tasarımı
• Kremayer-pinyon dişli mekanizması
• Eklemeli İmalat Yöntemi

Kaynakça

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