Değişken Bağlantı Nokta Sayısına Sahip Kablo Kontrollü Düzlemsel Bir Paralel Robot Mekanizmasının Geometrik Optimizasyonu

Yıl 2021, Cilt: 3 Sayı: 1, 24 - 43, 28.06.2021

Serkan Telci , Metin Toz

Öz

Bu çalışmada düzlemsel kablo kontrollü bir çizim robotu için geometrik optimizasyon yapan bir sistem önerilmiştir. Bu sistem, kullanıcıdan aldığı örnek bir resim için o resmin robot tarafından çizilebilmesini sağlayacak optimum geometrik tasarımı önermektedir. Sistem giriş olarak, örnek resim ve kablo kontrollü robot için istenilen köşe noktası sayısını almakta ve bu bilgileri kullanarak robot mekanizmasının kablo uzunluklarını ve kabloların kaleme bağlantı noktalarını optimize etmektedir. Optimizasyon aracı olarak Genetik Algoritma kullanılmıştır. Önerilen sistemin test edilmesi amacıyla iki farklı resim ve üç farklı köşe nokta sayısı için geometrik optimizasyon yapılmış ve elde edilen sonuçlar karşılaştırmalı olarak sunulmuştur.

Anahtar Kelimeler

Kablo kontrollü robot, Paralel robot, düzlemsel çizim robotu, optimizasyon, genetik algoritma

Geometrical Optimization of a Planar Cable Controlled Parallel Robot Mechanism with Variable Connection Points

Öz

In this study, a geometric optimization system is proposed for a planar cable driven drawing robot. This system proposes the optimum geometric design that will enable the robot to draw a sample picture taken from the user. The system takes the sample picture and the desired number of corner points for the cable driven robot as input, and by using this information, it optimizes the cable lengths of the robot mechanism and the connection points of the cables to the pen. Genetic Algorithm was used as an optimization tool. In order to test the proposed system, geometric optimization has been made for two different pictures and three different corner point numbers and the results obtained are presented comparatively.

Anahtar Kelimeler

cable driven robot, parallel robot, planar drawing robot, optimization, genetic algorithm.

Kaynakça

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