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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

Yıl 2024, Cilt: 8 Sayı: 1, 46 - 58, 30.04.2024
https://doi.org/10.46519/ij3dptdi.1395993

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.

Proje Numarası

TÜBİTAK 119N707

Kaynakça

  • 1. L. Li, A. Haghighi, ve Y. Yang, “A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies”, Journal of Manufacturing Processes, Vol. 33, Pages 150-160, 2018.
  • 2. S. Çaşka, K. Gök, M. Aydin, ve İ. Özdemi̇r, “Finite Element Method Based Structural Analysis Of Quadcopter Uav Chassis Produced With 3d Printer”, DPÜFBED, Issue 044, Art. Issue 044, 2020.
  • 3. P. Urhal, A. Weightman, C. Diver, ve P. Bartolo, “Robot assisted additive manufacturing: A review”, Robotics and Computer-Integrated Manufacturing, Vol. 59, Pages 335-345, 2019. 4. W. Guo, R. Li, C. Cao, ve Y. Gao, “Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator”, Advances in Mechanical Engineering, Vol. 8, 2016.
  • 5. M. Mahboubkhah ve A. Barari, “Design and development of a novel 4-DOF parallel kinematic coordinate measuring machine (CMM)”, International Journal of Computer Integrated Manufacturing, Vol. 32, Pages 1-11, Nis. 2019.
  • 6. F. Xie ve X.-J. Liu, “Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity”, Front. Mech. Eng., Vol. 11, Issue 2, Pages 135-143, Haz. 2016.
  • 7. S. Krut, V. Nabat, ve F. Pierrot, “HELI4: a Parallel Robot for SCARA Motions with a Very Compact Travelling Plate and a Symmetrical Design”, program adı: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, Eki. 2006.
  • 8. S. Krut ve F. Pierrot, “Modelling of a 4 Axis Parallel Machine for Heavy Parts Handling”, içinde Parallel Kinematics Seminar, Verlag Scripten, s. pp-151, 2002.
  • 9. V. Nabat, M. de la O RODRIGUEZ, O. Company, S. Krut, ve F. Pierrot, “Par4: very high speed parallel robot for pick-and-place”, içinde 2005 IEEE/RSJ International Conference on intelligent robots and systems, IEEE, Pages 553-558, 2005.
  • 10. J. Zhang ve F. Liou, “Adaptive slicing for a multi-axis laser aided manufacturing process”, J. Mech. Des., Vol. 126, Issue 2, Pages 254-261, 2004.
  • 11. R. Clavel, “Unmanned robotic delta weapon platform”, WIPO patent, 1987.
  • 12. F. Pierrot ve O. Company, “H4: a new family of 4-dof parallel robots”, içinde 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No. 99TH8399), IEEE, Pages 508-513, 1999.
  • 13. Denavit, J., Hartenberg, R. S., “A kinematic notation for lower pair mechanisms based on matrices”, ASME Journal of Applied Mechanics, Vol. 77, Pages 215-221, 1955.
  • 14. Chase, M. A., “Vector analysis of linkages”, ASME Journal of Engineering for Industry, Vol. 85, Pages 289-297, 1963. 15. Duffy, J., Rooney, J., “A foundation for a unified theory of analysis of spatial mechanism”, ASME Journal of Engineering for Industry, Vol. 97, Issue 4, Pages 1159-1164, 1975.
  • 16. Nanua, P., Waldron, K. J., Murthy, V., “Direct kinematic solution of a Stewart platform”, IEEE Transactions on Robotics and Automation, Vol. 6, Issue 4, Pages 438-444, 1990.
  • 17. Su, Y. X., Zang, C. H. and Duan B.Y., “Singularity analysis of a 6 DOF stewart platform using genetic algorithm”, IEEE International Conference on Systems Man and Cybernetics, Yasmine Hammamet, Pages 1-6, 2002.
  • 18. L.W. Tsai, “Robot Analysis: The Mechanics of Serial and Parallel Manipulators”, John Wiley & Sons, 1999.
  • 19. Pedrammehr, S., Mahboubkhah, M. & Khani, “N. Improved dynamic equations for the generally configured Stewart platform manipülatör”, J Mech Sci Technol Vol.26, Pages 711–721, 2012.
  • 20. S. Pakzad, S. Akhbari, ve M. Mahboubkhah, “Kinematic and dynamic analyses of a novel 4-DOF parallel mechanism”, J Braz. Soc. Mech. Sci. Eng., Vol. 41, Issue 12, Pages 561, Ara. 2019.
  • 21. Craig, J. J., “Introduction to Robotics: Mechanics and Control”, Pages 19-339, Pearson Prentice Hall, Upper Saddle River, 2005.
  • 22. Spong, M. W., Vidyasagar, M., “Robot dynamics and control”, Pages 26-138, Wiley, Hoboken, 2008.
  • 23. Jazar, R.N., “Theory of applied robotics: kinematics, dynamics, and control”, Pages 35-554, Springer, Berlin, 2010.
  • 24. Matsu, N., Nakomura M., and Kosako T., “Instantaneous torque analysis of hybrid stepping motor”, IEEE Transcations on Industry applications, Vol. 32, Issue 5, Pages 1176-1996, 1996.
  • 25. Bellini, A., Concari C., Franceshini G., and Toscani A., “Mixed-Mode PWM for high performance stepping motors”, IEEE Transactions on Industrial Electronics, Vol. 54, Issue 6, Pages 3167-3177, 2007.
  • 26. Baluta G., and Coteata M., “Precision microstepping system for bipolar stepper motor control”, 07th International Elect. Mach. and Power Electronics Conference, Pages 291-296, Bodrum, 2007.
  • 27. Franklin, G. F., Powell, J. D., Emami-Naeini, A., Powell, J. D., “Feedback control of dynamic systems”, Pages 202-211, Prentice hall, Upper Saddle River, 2002.

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

Yıl 2024, Cilt: 8 Sayı: 1, 46 - 58, 30.04.2024
https://doi.org/10.46519/ij3dptdi.1395993

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.

Destekleyen Kurum

TÜBİTAK

Proje Numarası

TÜBİTAK 119N707

Teşekkür

Bu çalışma TÜBİTAK 119N707 nolu proje kapsamında desteklenmiştir

Kaynakça

  • 1. L. Li, A. Haghighi, ve Y. Yang, “A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies”, Journal of Manufacturing Processes, Vol. 33, Pages 150-160, 2018.
  • 2. S. Çaşka, K. Gök, M. Aydin, ve İ. Özdemi̇r, “Finite Element Method Based Structural Analysis Of Quadcopter Uav Chassis Produced With 3d Printer”, DPÜFBED, Issue 044, Art. Issue 044, 2020.
  • 3. P. Urhal, A. Weightman, C. Diver, ve P. Bartolo, “Robot assisted additive manufacturing: A review”, Robotics and Computer-Integrated Manufacturing, Vol. 59, Pages 335-345, 2019. 4. W. Guo, R. Li, C. Cao, ve Y. Gao, “Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator”, Advances in Mechanical Engineering, Vol. 8, 2016.
  • 5. M. Mahboubkhah ve A. Barari, “Design and development of a novel 4-DOF parallel kinematic coordinate measuring machine (CMM)”, International Journal of Computer Integrated Manufacturing, Vol. 32, Pages 1-11, Nis. 2019.
  • 6. F. Xie ve X.-J. Liu, “Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity”, Front. Mech. Eng., Vol. 11, Issue 2, Pages 135-143, Haz. 2016.
  • 7. S. Krut, V. Nabat, ve F. Pierrot, “HELI4: a Parallel Robot for SCARA Motions with a Very Compact Travelling Plate and a Symmetrical Design”, program adı: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, Eki. 2006.
  • 8. S. Krut ve F. Pierrot, “Modelling of a 4 Axis Parallel Machine for Heavy Parts Handling”, içinde Parallel Kinematics Seminar, Verlag Scripten, s. pp-151, 2002.
  • 9. V. Nabat, M. de la O RODRIGUEZ, O. Company, S. Krut, ve F. Pierrot, “Par4: very high speed parallel robot for pick-and-place”, içinde 2005 IEEE/RSJ International Conference on intelligent robots and systems, IEEE, Pages 553-558, 2005.
  • 10. J. Zhang ve F. Liou, “Adaptive slicing for a multi-axis laser aided manufacturing process”, J. Mech. Des., Vol. 126, Issue 2, Pages 254-261, 2004.
  • 11. R. Clavel, “Unmanned robotic delta weapon platform”, WIPO patent, 1987.
  • 12. F. Pierrot ve O. Company, “H4: a new family of 4-dof parallel robots”, içinde 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No. 99TH8399), IEEE, Pages 508-513, 1999.
  • 13. Denavit, J., Hartenberg, R. S., “A kinematic notation for lower pair mechanisms based on matrices”, ASME Journal of Applied Mechanics, Vol. 77, Pages 215-221, 1955.
  • 14. Chase, M. A., “Vector analysis of linkages”, ASME Journal of Engineering for Industry, Vol. 85, Pages 289-297, 1963. 15. Duffy, J., Rooney, J., “A foundation for a unified theory of analysis of spatial mechanism”, ASME Journal of Engineering for Industry, Vol. 97, Issue 4, Pages 1159-1164, 1975.
  • 16. Nanua, P., Waldron, K. J., Murthy, V., “Direct kinematic solution of a Stewart platform”, IEEE Transactions on Robotics and Automation, Vol. 6, Issue 4, Pages 438-444, 1990.
  • 17. Su, Y. X., Zang, C. H. and Duan B.Y., “Singularity analysis of a 6 DOF stewart platform using genetic algorithm”, IEEE International Conference on Systems Man and Cybernetics, Yasmine Hammamet, Pages 1-6, 2002.
  • 18. L.W. Tsai, “Robot Analysis: The Mechanics of Serial and Parallel Manipulators”, John Wiley & Sons, 1999.
  • 19. Pedrammehr, S., Mahboubkhah, M. & Khani, “N. Improved dynamic equations for the generally configured Stewart platform manipülatör”, J Mech Sci Technol Vol.26, Pages 711–721, 2012.
  • 20. S. Pakzad, S. Akhbari, ve M. Mahboubkhah, “Kinematic and dynamic analyses of a novel 4-DOF parallel mechanism”, J Braz. Soc. Mech. Sci. Eng., Vol. 41, Issue 12, Pages 561, Ara. 2019.
  • 21. Craig, J. J., “Introduction to Robotics: Mechanics and Control”, Pages 19-339, Pearson Prentice Hall, Upper Saddle River, 2005.
  • 22. Spong, M. W., Vidyasagar, M., “Robot dynamics and control”, Pages 26-138, Wiley, Hoboken, 2008.
  • 23. Jazar, R.N., “Theory of applied robotics: kinematics, dynamics, and control”, Pages 35-554, Springer, Berlin, 2010.
  • 24. Matsu, N., Nakomura M., and Kosako T., “Instantaneous torque analysis of hybrid stepping motor”, IEEE Transcations on Industry applications, Vol. 32, Issue 5, Pages 1176-1996, 1996.
  • 25. Bellini, A., Concari C., Franceshini G., and Toscani A., “Mixed-Mode PWM for high performance stepping motors”, IEEE Transactions on Industrial Electronics, Vol. 54, Issue 6, Pages 3167-3177, 2007.
  • 26. Baluta G., and Coteata M., “Precision microstepping system for bipolar stepper motor control”, 07th International Elect. Mach. and Power Electronics Conference, Pages 291-296, Bodrum, 2007.
  • 27. Franklin, G. F., Powell, J. D., Emami-Naeini, A., Powell, J. D., “Feedback control of dynamic systems”, Pages 202-211, Prentice hall, Upper Saddle River, 2002.
Toplam 25 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Kontrol Mühendisliği, Mekatronik ve Robotik (Diğer)
Bölüm Araştırma Makalesi
Yazarlar

Ahmet Dumlu 0000-0002-2181-5386

Mehran Mahboubkhah 0000-0003-0275-4837

Kağan Koray Ayten 0000-0002-8111-4450

Sadrettin Gölcügezli 0000-0002-6889-3947

Gürkan Kalınay 0000-0002-2362-4188

Proje Numarası TÜBİTAK 119N707
Erken Görünüm Tarihi 26 Nisan 2024
Yayımlanma Tarihi 30 Nisan 2024
Gönderilme Tarihi 25 Kasım 2023
Kabul Tarihi 10 Şubat 2024
Yayımlandığı Sayı Yıl 2024 Cilt: 8 Sayı: 1

Kaynak Göster

APA Dumlu, A., Mahboubkhah, M., Ayten, K. K., Gölcügezli, S., vd. (2024). EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ. International Journal of 3D Printing Technologies and Digital Industry, 8(1), 46-58. https://doi.org/10.46519/ij3dptdi.1395993
AMA Dumlu A, Mahboubkhah M, Ayten KK, Gölcügezli S, Kalınay G. EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ. IJ3DPTDI. Nisan 2024;8(1):46-58. doi:10.46519/ij3dptdi.1395993
Chicago Dumlu, Ahmet, Mehran Mahboubkhah, Kağan Koray Ayten, Sadrettin Gölcügezli, ve Gürkan Kalınay. “EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ”. International Journal of 3D Printing Technologies and Digital Industry 8, sy. 1 (Nisan 2024): 46-58. https://doi.org/10.46519/ij3dptdi.1395993.
EndNote Dumlu A, Mahboubkhah M, Ayten KK, Gölcügezli S, Kalınay G (01 Nisan 2024) EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ. International Journal of 3D Printing Technologies and Digital Industry 8 1 46–58.
IEEE A. Dumlu, M. Mahboubkhah, K. K. Ayten, S. Gölcügezli, ve G. Kalınay, “EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ”, IJ3DPTDI, c. 8, sy. 1, ss. 46–58, 2024, doi: 10.46519/ij3dptdi.1395993.
ISNAD Dumlu, Ahmet vd. “EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ”. International Journal of 3D Printing Technologies and Digital Industry 8/1 (Nisan 2024), 46-58. https://doi.org/10.46519/ij3dptdi.1395993.
JAMA Dumlu A, Mahboubkhah M, Ayten KK, Gölcügezli S, Kalınay G. EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ. IJ3DPTDI. 2024;8:46–58.
MLA Dumlu, Ahmet vd. “EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ”. International Journal of 3D Printing Technologies and Digital Industry, c. 8, sy. 1, 2024, ss. 46-58, doi:10.46519/ij3dptdi.1395993.
Vancouver Dumlu A, Mahboubkhah M, Ayten KK, Gölcügezli S, Kalınay G. EKLEMELİ İMALAT TEKNOLOJİLERİNDE KULLANILABİLECEK PARALEL KİNEMATİK YAPIYA SAHİP 5 SERBESTLİK DERECELİ ROBOTİK SİSTEMİN MATEMATİKSEL ANALİZİ VE GERÇEK ZAMANLI KONTROLÜ. IJ3DPTDI. 2024;8(1):46-58.

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