Design and Kinematic Analysis of a Robotic Arm Capable of MIG Welding

Öz

Unmanned manufacturing occupies a significant place in today's world. The success and applicability of manufacturing in unmanned areas have been proven. Various tools have been enriched in terms of hardware and adapted for manufacturing tasks. The rapid development of technology offers the chance to use more hardware for these hardware-enriched tools. The most intense studies in these hardware are conducted on robotic arms. This article has been prepared on the design of a robotic arm capable of MIG welding for various applications in the manufacturing sector, especially in the automotive and defense industries. A MIG welding robotic arm design that can be mounted under or over the system in very different manufacturing areas, considering the designs, has been made. The characteristics of unmanned systems used in the design have been taken into account. The kinematic model was created by calculating the general transformation, matrix, all joints, and assemblies. The robotic arm, designed in Solidworks and material selection made, was analyzed for deformation, motion, and deviation under certain loads using Solidworks and Ansys programs. The analyses conducted on the first and second joints showed that the robotic arm can perform the desired welding tasks under the loads it is subjected to.

Anahtar Kelimeler

• Robotic Arm
• MIG Welding
• Kinematic Analysis

MIG Kaynağı Yapabilen Robot Kolun Tasarımı ve Kinematik Analizi

Öz

İnsansız imalat günümüzde önemli yer kaplamaktadır. İmalat insansız olduğu her alanda başarısını ve uygulanabilirliği kanıtlanmıştır. Çeşitli araçlar donanımsal yönden zenginleştirilmiş ve imalat içi görevlere uygun hale getirilmiştir. Teknolojinin hızlı gelişimi donanımsal olarak zenginleştirilen bu araçlar için daha fazla donanım kullanma şansı sunmaktadır. Bu donanımlarda en yoğun çalışmalar robot kollar üzerine yapılmaktadır. Bu makale imalat sektöründe, başta otomotiv ve savunma sanayi olmak üzere çeşitli uygulamalar için kullanılmak üzere MIG kaynağı yapabilen robot kol tasarımı üzerine hazırlanmıştır. Çok farklı imalat alanlarında, sistemin altına ya da üstüne tasarımları dikkate alınarak monte edilebilecek bir MIG kaynak robot kolu tasarımı yapılmıştır. Tasarımda insansız kullanılan sistemlerin özellikleri dikkate alınmıştır. Kinematik model, genel dönüşüm, matris, tüm eklem ve birleştirmeleri hesaplanarak oluşturuldu. Solidworks programında tasarımı ve malzeme seçimi yapılan robot kolun, Solidworks ve Ansys programlarını kullanarak belirli yükler altında deformasyon, hareket ve sapma analizleri yapıldı. Bir numaralı eklem ve iki numaralı eklem üzerine yapılan analizler sonucu robot kolun maruz kaldığı yüklerde istenilen kaynak görevlerini yapabileceği görülmüştür.

Anahtar Kelimeler

• Robot Kol
• MIG Kaynağı
• Kinematik Analiz

Kaynakça

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