3D Baskılı Termoplastik Poliüretan Esnek Dönme Mafsalının Direngenlik Karakterizasyonu

Öz

Bu çalışmanın amacı, termoplastik poliüretan (TPU) malzemesinden üretilmiş olan ve kendi rotasyon ekseninde dönebilen mekanizma parçalarının torsiyonel direngenlik sabitlerinin deneysel ve teorik olarak elde edilip karşılaştırılmasıdır. Hassas bir ölçüm sistemi kurularak dört numune için farklı yüklerde eğilme açıları ölçülmüş ve tepki momenti değerleri belirlenmiş, böylece deneysel torsiyonel direngenlikler hesaplanmıştır. Ankastre levha kullanılarak elde edilen teorik model ile deneysel sonuçların genel itibariyle uyumlu olduğu kaydedilmiştir. Dönme mafsalı boğaz bölgesi geometrik parametrelerinin sonucu ne şekilde etkilediği tartışılmıştır. Önerilen deney düzeneğinin dönme mafsalı torsiyonel direngenlik ölçümünde etkin bir şekilde kullanılabileceği sonucuna varılmıştır.

Anahtar Kelimeler

• Esnek mafsallar
• torsiyonel direngenlik
• ölçüm yöntemleri
• mekanik tasarım
• deney düzeneği

Teşekkür

Deneylerin yapılmasında emeği geçen takım arkadaşımız Faruk Zeytinci'ye ve numuneleri hazırlayan Cevat Volkan Karadağ'a teşekkürü bir borç biliriz.

Stiffness Characterization of a 3D-Printed Thermoplastic Polyurethane Compliant Revolute Joint

Öz

The aim of this study is to determine and compare the torsional stiffnesses of the revolute compliant joints that are made of thermoplastic polyurethane (TPU) material. By setting up a sensitive measurement system, tilt angles were measured at different loading values for four samples and the reaction moments are determined to calculate experimental torsional stiffness. The results of the theoretical model based on a cantilever plate model is in general compatible with the experimental results. The effect of the compliant hinge geometric parameters on the results are discussed. It is concluded that the proposed experimental setup can be used effectively in the measurement of the torsional stiffness of revolute compliant joints.

Anahtar Kelimeler

• flexible hinges
• torsional stiffness
• measurement techniques
• mechanical design
• experimental setup

Kaynakça

1. [1] Mutlu R., Tawk C., Alici G. ve Sariyildiz E. "A 3D printed monolithic soft gripper with adjustable stiffness", IECON 2017-43rd Annual Conference of the IEEE Industrial Electronics Society, China Beijing, 6235-6240, (2017).
2. [2] Rodríguez-Panes A., Claver J. ve Camacho, A. M., "The influence of manufacturing parameters on the mechanical behaviour of PLA and ABS pieces manufactured by FDM: A comparative analysis", Materials, 11(8): 1333, (2018).
3. [3] Günay M., Gündüz S., Yılmaz H., Yaşar N. ve Kaçar R., "PLA esaslı numunelerde çekme dayanımı için 3D baskı işlem parametrelerinin optimizasyonu", Politeknik Dergisi, 23(1): 73-79, (2019).
4. [4] Wei H., Wang L., Niu X., Deng Y., Zhang Y. ve Cheng J., "Stiffness characteristics of a laser beam melted (LBM) additive-manufactured flexure mechanism", Procedia CIRP, 78: 144-148, (2018).
5. [5] Lobontiu N.,"Compliant Mechanisms: Design of Flexure Hinges", CRC Press, ABD, (2003).
6. [6] Kaplan G., "Esnek Mekanizmaların Sonlu Elemanlar Yöntemi ile İncelenmesi", yüksek lisans tezi, Hacettepe Üniversitesi Fen Bilimleri Enstitüsü, (2013).
7. [7] Hu Y., Zhang L., Li W. ve Yang G. Z., "Design and fabrication of a 3-D printed metallic flexible joint for snake-like surgical robot", IEEE Robotics and Automation Letters, 4(2): 1557-1563, (2019).
8. [8] Mutlu R., Alici G., in het Panhuis M. ve Spinks G., "Effect of flexure hinge type on a 3D printed fully compliant prosthetic finger", 2015 IEEE International Conference on Advanced Intelligent Mechatronics, Korea Busan, 790-795, (2015).

9. [9] Tawk C., Gillett A., in het Panhuis M., Spinks G. M. ve Alici G., "A 3D-printed omni-purpose soft gripper", IEEE Transactions on Robotics, 35(5): 1268-1275, (2019).
10. [10] Pham M. T., Teo T. J., Yeo S. H., Wang P. ve Nai M. L. S., "A 3-D printed Ti-6Al-4V 3-DOF compliant parallel mechanism for high precision manipulation", IEEE/ASME Transactions on Mechatronics, 22(5): 2359-2368, (2017).
11. [11] Sharkey J. P., Foo D. C., Kabla A., Baumberg J. J. ve Bowman R. W. "A one-piece 3D printed flexure translation stage for open-source microscopy", Review of Scientific Instruments, 87(2): 025104, (2016).
12. [12] Lee C. ve Tarbutton J. A.,"Compliance and control characteristics of an additive manufactured-flexure stage", Review of Scientific Instruments, 86(4): 045107, (2015).
13. [13] Bates S. R., Farrow I. R. ve Trask R. S., "3D printed polyurethane honeycombs for repeated tailored energy absorption", Materials and Design, 112: 172-183, (2016).
14. [14] Lobontiu N.,"Out-of-plane (diaphragm) compliances of circular-axis notch flexible hinges with midpoint radial symmetry", Mechanics Based Design of Structures and Machines, 42(4): 518-538, (2014).
15. [15] Alghamdi A., Maconachie T., Downing D., Brandt M., Qian M., ve Leary M.,"Effect of additive manufactured lattice defects on mechanical properties: an automated method for the enhancement of lattice geometry", The International Journal of Advanced Manufacturing Technology, 108: 957-971, (2020).
16. [16] Balderrama-Armendariz C. O., MacDonald E., Roberson D. A., Ruiz-Huerta L., Maldonado-Macias A., Valadez-Gutierrez E. ve Espalin D., "Folding behavior of thermoplastic hinges fabricated with polymer extrusion additive manufacturing", The International Journal of Advanced Manufacturing Technology, 105(1-4): 233-245, (2019).
17. [17] Wagner M. A., Huang J. L., Okle P., Paik J. ve Spolenak R., "Hinges for origami-inspired structures by multimaterial additive manufacturing", Materials and Design, 191: 108643, (2020).
18. [18] Data MMP. Covestro Desmopan® 2786A GMP TPU.
19. [19] QiH. J. ve Boyce M. C., "Stress–strain behavior of thermoplastic polyurethanes", Mechanics of materials, 37(8): 817-839,(2005).
20. [20] Kanbur Y. ve Tayfun U., "Investigating mechanical, thermal, and flammability properties of thermoplastic polyurethane/carbon nanotube composites", Journal of Thermoplastic Composite Materials, 31(12): 1661-1675, (2018).
21. [21] Hossieny N., Shaayegan V., Ameli A., Saniei M. ve Park C. B., "Characterization of hard-segment crystalline phase of thermoplastic polyurethane in the presence of butane and glycerol monosterate and its impact on mechanical property and microcellular morphology", Polymer, 112: 208-218, (2017).
22. [22] Fang C., Yang R., Zhang Z.,Zhou X., Lei W., Cheng Y., Zhang W. ve Wang D.,"Effect of multi-walled carbon nanotubes on the physical properties and crystallisation of recycled PET/TPU composite", RSC Adv., 8(16): 8920-8928, (2018).
23. [23] Fedorov D. S., Ivoilov A. Y., Zhmud V. A. ve Trubin V. G., "Using of measuring system MPU6050 for the determination of the angular velocities and linear accelerations", Automatics & Software Enginery, 11(1): 75-80, (2015).
24. [24] D’Ausilio A., "Arduino: A low-cost multipurpose lab equipment", Behavior research methods, 44(2), 305-313, (2012).
25. [25] Eaton J. W., Bateman D., Hauberg, S. ve Wehbring R.,"GNU Octave Version 5.1. 0 Manual: A High-Level Interactive Language for Numerical Computations", Free Software Foundation, (2019).
26. [26] Reas C. ve Fry B., "Processing: programming for the media arts", AI & SOCIETY, 20(4): 526-538, (2006).
27. [27] Cook R. D. ve Young C.D.,"Advanced Mechanics of Materials", 2ed., Prentice Hall, Upper Saddle River, NJ, (2003).