Delta Tipi Bir Paralel Robotun Hareket Kontrolü ve Analizi

Öz

Paralel robotlar, yüksek rijitlikleri, yüksek doğrulukları, hareketli parçaların düşük ataletleri ve hafiflikleri vb. sayesinde birçok uygulama için doğal avantajlara sahiptir. Bu çalışmanın amacı, 3 serbestlik dereceli (3-DOF) Delta tipi bir paralel robotun hareket kontrolü, kinematik ve çalışma alanı analizlerini gerçekleştirmektir. Hareket kontrolü ve analizlerde delta tipi paralel robotun gerçek parametre değerleri kullanılmıştır. Robotun çalışma alanı analizinin yanı sıra ileri ve ters kinematik analizleri yapılmıştır. Ayrıca robotun hareket kontrolü kartezyen uzayda gerçekleştirilmiştir. Delta tipi paralel robotun sıfır salınım yapması ve dışarıdan gelen bozuculara karşı sağlam bir yapıya sahip olması için Kayan Kipli Kontrol (KKK) yöntemi tercih edilmiştir. Sonuç olarak delta tipi paralel robotun hareket kontrolü, kinematik ve çalışma alanı analizleri gerçekleştirilmiş ve incelenmiştir.

Anahtar Kelimeler

• Delta tipi Paralel Robot
• Hareket Kontrolü
• Kinematik ve Çalışma Alanı Analizi
• KKK

Motion Control and Analysis of Delta-type a Parallel Robot

Öz

Parallel robots have natural advantages for many applications thanks to their high rigidity, high accuracy, low inertia of the moving parts and lightness, etc. The goal of this study has performed motion control, the kinematical, and workspace analyses of a Delta-type parallel robot with 3 degrees of freedom (3-DOF). Delta-type parallel actual parameter values were used in the motion control and analyses. Forward and inverse kinematics analysis, as well as workspace analysis of the robot, were carried out. In addition, the motion control of the robot is actualized in Cartesian space. In order for the delta-type parallel robot to have zero oscillation and to have a robust structure against external disturbances, the Sliding Mode Control (SMC) method was preferred. As a result, the motion control, kinematics, and workspace analyses of the delta-type parallel robot were realized and examined.

Anahtar Kelimeler

• Delta type Parallel Robot
• Kinematic and Workspace Analysis
• Motion Control
• SMC

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