Manufacturing and controlling 5-axis ball screw driven industrial robot moving through G codes

Yıl 2022, Cilt: 12 Sayı: 2, 454 - 465, 15.04.2022

Savaş Koç , Cengiz Doğan

https://doi.org/10.17714/gumusfenbil.990175

Cited By: 2

Öz

These days, in industrial robot applications, servo motors with reducer have been used to move robot manipulators. Due to the weight of the robot parts, it causes undesirable conditions such as backward movement, downward movement and vibration caused by the moments of inertia at the time of movement. In this study, step motor ball screw driven actuators, which use push-pull force instead of servo motor with reducers, were utilized to provide rotational movement in robot arms. The ball screw system reduces the effect of moments of inertia caused by the movements of the robot joints, and restricts the free movements of the robot joints. It also provides an advantage by reducing costs since it uses smaller motors. In articulated robots, the complexity of kinematic equations and the use of high-order polynomials for trajectory planning cause difficulties in controlling. In this study, the information of the points, where the robot went during the manual movement, was obtained by using the macros prepared in program interface without using kinematic and trajectory planning equations. The position lines taken at these points were printed in a text file by adding the code G01 and f feed-rate. The robot was made to move by running this file in the program interface used for control. This method allows the operator to use the robot without advanced kinematics knowledge.

Anahtar Kelimeler

Actuators, Ball screw, Control with G code, Industrial robot

Destekleyen Kurum

Harran Üniversitesi Bilimsel Arştırmalar Koordinatörlüğü (HÜBAK)

Proje Numarası

16074

Teşekkür

I would like to thank Harran University Scientific Research Coordinator (HÜBAK) for providing project support in the production of this robot.

G kodu ile hareket eden beş eksenli bilyalı mil tahrikli endüstriyel robot imalatı ve kontrolü

Öz

Günümüz endüstriyel robot uygulamalarında robot manipülatörlerini hareket ettirmek için redüktörlü servo motorlar kullanılmaktadır. Robot parçalarının ağırlıklarından dolayı, hareket anında atalet momentlerinden kaynaklanan geriye doğru hareket, aşağı doğru hareket ve titreşim gibi istenmeyen durumlara neden olmaktadır. Bu çalışmada, robot kollarında dönme hareketini sağlamak için redüktörlü servo motor yerine itme-çekme kuvveti kullanan adım motorlu bilyalı mil tahrikli aktüatörler kullanılmıştır. Bilyalı mil sistemi, robot mafsallarının hareketlerinden kaynaklanan atalet momentlerinin etkisini azaltmakta ve robot mafsallarının serbest hareketlerini kısıtlamaktadır. Ayrıca daha küçük motorların kullanılmasıyla maliyetleri azaltarak avantaj sağlamaktadır. Mafsallı robotlarda, kinematik denklemlerin karmaşık olması ve yörünge planlaması için yüksek dereceli polinomların kullanılması kontrolde zorluklara neden olmaktadır. Bu çalışmada, kinematik denklemler ve yörünge planlaması denklemleri kullanılmadan program arayüzünde hazırlanan makrolar kullanılarak robotun manuel hareketi esnasında gittiği noktaların eksen bilgisi alınmaktadır. Bu noktalarda alınan konum satırlarına, G01kodu ve f ilerleme hızı eklenerek bir metin dosyasına yazdırılmaktadır. Bu dosya kontrol için kullanılan program arayüzünde çalıştırılarak robot hareket ettirilmektedir. Bu yöntem, operatörün ileri derecede kinematik bilgisi olmadan da robotu kullanma imkanı sunmaktadır.

Anahtar Kelimeler

Aktüatörler, Bilyalı mil, G kodu ile kontrol, Endüstriyel robot

Proje Numarası

16074

Kaynakça

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