Üst Uzuv Robot Kol Sistemi Tasarımı ve Kinematik Analizi

Year 2020, Volume: 7 Issue: 3, 1320 - 1331, 30.09.2020

Çağatay Ersin , Mustafa Yaz , Hüseyin Gökçe

https://doi.org/10.31202/ecjse.753267

Abstract

Bu çalışmada, kol kasında rahatsızlık hisseden ve güç kaybı yaşayan kişiler için giyilebilir bir üst ekstremite robot kol tasarımı tasarlanmıştır. Kol rahatsızlığı olan kullanıcı, tasarlanan sistemi koluna bağlayabilir ve sağlıklı bireyler gibi günlük yaşam aktiviteleri gerçekleştirebilir. Üst ekstremite robot kol sistemi Solidworks programında tasarlanmıştır. Sistem kullanıcının beline bağlanır ve tüm kolu sarar. Tasarlanan robot kol sistemi 5 cm kalınlığında alüminyum malzemeden üretilecek şekilde tasarlanmıştır. Köşeli servo motorlar eklemlerden bileklere ve dirseklere monte edilir. Doğrusal motor, hem dikey hem de yatay hareket sağlamak için üst ekstremite sisteminin omuz kısmına monte edilmiştir. Solidworks yazılımı yardımıyla tasarlanan mekanizma için gerekli analizler yapıldı. Kol, el ve omuz aparatlarının güvenlik katsayıları maksimum 250 Newton yük için hesaplanmıştır. Daha sonra gerekli hareketler için kısıtlamalar yapılmış ve kullanılacak motorların güç ve tork değerleri hesaplanmıştır. Ayrıca, sistemin kol, el ve omuz kısımları için kuvvet dağılımları yapılarak maksimum yer değiştirmeler belirlenmiştir.

Keywords

robot kol tasarımı, hareket analizi, kuvvet analizi, sonlu elemanlar yöntemi, açısal ve lineer motorlar

Upper Limb Robot Arm System Design and Kinematic Analysis

Abstract

In this study, a wearable upper limb robot arm design has been designed for individuals who experience discomfort in the arm muscle and experience power loss. The user with arm discomfort can attach the designed system to her arm and perform daily life activities like healthy individuals. The upper limb robot arm system is designed in Solidworks program. The system is attached to the waist of the user and wraps the entire arm. The designed robot arm system is designed to be produced of 5 cm thick aluminum material. Angular servo motors are mounted from the joints to the wrists and elbows. Linear motor is mounted to the shoulder part of the upper limb system to provide both vertical and horizontal movement. Necessary analyses were done for the mechanism designed with the help of Solidworks software. The safety coefficients of the arm, hand and shoulder apparatuses were calculated for a maximum load of 250 Newtons. Later, restrictions were made for the necessary movements and the powers and torque values of the motors to be used were calculated. In addition, maximum displacements were determined by making force distributions for the arm, hand and shoulder parts of the system.

Keywords

robot arm design, motion analysis, force analysis, finite element method, angular and linear motors

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