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Moduler robot konstrüksiyonu

Modular robot construction

  1. Tez No: 14302
  2. Yazar: HİKMET KOCABAŞ
  3. Danışmanlar: PROF.DR. AYBARS ÇAKIR
  4. Tez Türü: Doktora
  5. Konular: Makine Mühendisliği, Mechanical Engineering
  6. Anahtar Kelimeler: Belirtilmemiş.
  7. Yıl: 1990
  8. Dil: Türkçe
  9. Üniversite: İstanbul Teknik Üniversitesi
  10. Enstitü: Fen Bilimleri Enstitüsü
  11. Ana Bilim Dalı: Belirtilmemiş.
  12. Bilim Dalı: Belirtilmemiş.
  13. Sayfa Sayısı: 96

Özet

ÖZET Robotların son zamanlarda esnek imalat ünitelerinde daha geniş bir tatbik alanı bulabilmesi için modüller halinde imal edilmeye başlanması, kinematiği, konstrliksiyonu ve kontrolü acısından yeni problemler ortaya çıkarmıştır. Modüler sistemlerde, modüllerin değiştirilmesiyle ortaya çıkan robot sisteminin aynı kontrol programı ile kontrol edilebilmesi için kontrol programlarının da modüler olmasını gerektirir. Geliştirilmeye çalışılan benzer diğer bir teknik, değişebilir bilekli robotlardır. Bu çalışmada, Turbo Pascal programlama dilinde modüler robot konstrtiksiyonu üzerine bir paket program geliştirilmiştir. Bu programda, bilgisayar yardımıyla robot modülü çizimlerinin gerçekleştirilmesi ve bu modüllerin seçilen bir konfigürasyonda kullanılarak, çalışma alanının, hareket kabiliyetinin incelenmesi, düz kinematik çözüm ile belirli mafsal değerlerine karşılık gelen el ve/ veya takım konumunun belirlenmesi, ters kinematik çözümler ile mafsal değişkenlerinin tespit edilmesi, elde edilen veya verilen yörüngeyi belirleyen konum ve mafsal değişkenleri kullanılarak robotun hareket simülasyonunun izlenmesi gibi operasyonlar gerçekleştirilebilmektedir. Geliştirilen paket program, endüstride robot secimi esnasında robotun hareket kabiliyeti ve verilecek olan yörüngeyi gerçekleştirebilmesinin incelenebilmesi yönünden, ve bileğin değişmesi ile birlikte gerekli çözüm algoritmasına geçebilmesi dolayısıyla değişebilir bilekli robotlarda kullanılabilirliği yönünden yeni bir alternatif oluştur maktadır.

Özet (Çeviri)

MODULAR ROBOT CONSTRUCTION SUMMARY In recent years, the most popular problem on the sub ject of robot construction is interchangeable wrists. Non linear equations appear from the solution of this problem, when the wrists do not work in the spherical coordinates. Modular solutions are used in ModulesH package computer programme which has been specially developed for the eli mination of these non-linear equations. While forming these solution modules, the systems in the classification of the industrial robots, prepared by C.J. Col son, are ta ken as a base. In this classification, the systems have been divided into 8 body and 7 wrist systems. In ModulesH programme the number of the bodies increase up to 10. The solutions for the variations of these body and wrist sys tems are inserted into the programme as modular structu res. In this programme, the position and the orientation of the end-effector, and the joint variables can be ob tained by using direct and inverse kinematic solutions corresponding to the system chosen from the menus. Be sides, the drawings of the modules forming the robot system can be produced by using the joint variables and the link parameters. Industrial Manipulators are programmed to interact with the environment by positioning and orienting an end- effector in space. Typical six-degree-of -freedom robots consist of two distinct, three-degree-of -freedom subsys tems: the positioning arm and the orienting wrist. The arm is primarily responsible for positioning the wrist at a specified point while the wrist is responsible for ori enting the end-effector. Although the two subsystems have different tasks, attaching the wrist to the arm makes the manipulator a highly coupled system. Motion of the arm may not preserve the orientation of the wrist, while mo tion of the wrist may alter the position of the end -effec tor. The robotic capability for controlled motion depends upon the coordination of the two subsystems. The connection between two elements is known as the“pair”of connecting elements. There are three types of lower order surface pairs that allow only one degree of freedom between the connection elements C and thus the VIlinks). These three pairs are the“prismatic”, the“revo- lute”and the“screw”pairs. Other pair elements such as the“global”,“plane or flat”, and“cylindrical”elements are made of combinations of the one degree of freedom ele ments. The revolute pair allows pure rotation of one link around another. A pure translation of one link with res pect to another is allowed by the prismatic pair. When one link moves relative to a second with both translation and rotation in much the same way as a nut moves relative to a bolt a screw element is used. Since the angle of ro tation and the magnitude of the translation are related by the lead of the“screw”only one degree of freedom exists. This is called a“screw pair”. When the lead is infinite the screw pair reduces to the prismatic pair and when the lead is zero the screw pair reduces to the revolute. We are only concerned with revolute pairs and prismatic pairs since they are only pairs used in robotic linkages. Robotic applications are constrained by the type of wrist a robot uses. Wrist designs have been traditioally for specific tasks and operating conditions. This conven tional approach capitalized on the robot's ability to learn repetitive tasks and execute them over a long period of time. As product life-cycles continue to shorten, there is a growing need for increased robotic flexibilty and cost Justification. Clf a robot can perform multiple tasks within a single workstation more value will be added to the material by shortening the load/unload cycles. 5 The need can be addressed by designing sophisticated wrist me chanisms that can handle large families of tasks. Re search efforts to emulate the human hand have produced universal wrists with individually articulated fingers that, in principle, can hold and use ordinary tools. These multifunctional wrists, however, involve significant development costs and lack the dynamic stiffness to permit operations such as machining without chatter. Futhermore, the use of multifunctional wrists may not be appropriate for tel eoperators employed in environments hazardous or inaccessible to humans, such as deep-sea mining, nuclear energy production facilities, or space. A teleoperator is a manipulator that requires the supervision of a human operator from a remote location. The fine-motion capabi lity of a teleoperator is governed by the rate of informa tion transmission between the manipulator and the operator. The use of universal wrists can decrease drama tically the information transmission rate and lead to un acceptable performance. Although we believe that the interchangeable wrist concept can be a viable approach for increasing the flexi bility of robot manipulators, it does not mean that it is applicable in all cases. In assembly operations, where positioning accuray is critical, it may be more practical to use a multifunctional wrist Cor a tool changer) to re duce the number of times the robot arm must be positioned:. VIIalso, high-speed material handling, which does not add va lue to a product, does not Justify the cost of multiple wrists. We feel that interchangeable wrists are best sui ted for manufacturing processes such as machining, debur- ring, drilling, etc. A robot manipulator with interchan geable wrists can perform more of these operations on a fixtured part, and thus add more value to the part by eliminating secondary operations and reducing transport and setup time. Interchangeable wrists can provide an attractive, practical alternative for manufacturing by covering the middle ground between low -cost, dedicated mechanisms and expensive, research -oriented, multifunc tional designs. Furthermore, the use of interchangeable wrists may be the only alternative for teleoperators where human intervention is not possible Cor desirable). Constructing the robot systems which has maximum 6 degrees of freedom as a total, accomplished with 1-3 deg rees of freedom in the body and 1-3 degrees of freedom in the wrist is possible. Denavit-Hartenberg parameters of the system, of which the Joint types and the joint numbers has already been defined, can be changed, if it is desired, by the help of the menus. The standart drawings of the modules, which have been used, exist in the programme, al so, a drawing CCAD) elements menu is available for the de sign of the new modules. 22 three dimensional drawing elements which is useful to draw the modules exist in the menu. At the moment of drawing, it is possible to observe the projections of the drawing elements on the projection planes. Then it is also used in the simulations of the later robot motions, this last property enables us to ob serve the system perfectly in the three dimensional space. ModulesH package programme, which has been developed in Turbo Pascal programming language for IBM computable PC's using DOS, has been prepared to run also in mono chrome monitors although it has been specially considered' to run and use in color monitors. Using of the menus can be realized by the «-J-+ arrow buttons or pushing the but tons corresponding to the color characters in the menu while the caps-lock button led is on, also it is possible to use mouse cursor after the mouse.com has run. The complete programme is divided into three great menus, as the Main Menu, Drawing and Robots Menus. Besides the possibility of passing to the other two sub-menus from the Main Menu, the facilities like saving the construction drawings to the harddisk or floppy disk, clearing the se lected elements or the complete screen, rotating, transla ting, zooming, enlarging or reducing the scale and passing to the two dimensional drawing window from the three di mensional one are available. The Drawing Menu also offers many other possibilities like drawing three dimensional circles, ellipses, arcs, elliptical arcs, cylinders, cones, prisms, ellipsoids, toroids, etc. In addition to these, it is also possible to obtain hidden line drawing and to change the point numbers of the circular drawing elments. Whereas in Robots Menu, operations like selecting modules from the sub-menus, containing graphics, which concern body, wrist, hand systems and work spaces of robots, finding direct and inverse kinematics solution of these systems, point by point simulation of the robot motions, changing Denavit-Hartenberg parameters and joint freedom extremums from the menus can be performed. J sitetm SHOT? BB7BEI1 vmm BBTSâTE CLEHP SUSP LUTE F1LEMT EMTOI BONES mm SPICES =: mun wfextb »SPICE mmi MBS unties => 11 13 in ci S3 C3 P3 1CJ 1P3 111 ill «21 m m m in eli m ELS EM m ELS EL? PP1 PP2 PPP If İPİ IPP II Fil 1In the second part of this study, the kinematic sys tems, used in industrial robots, have been analysed in two parts as body and wrist, by giving a drawing example for each, and also a table showing which of the systems are used by the standart industrial robots. In the third part, homogeneous transformation matrices belonging to the ki nematics of the robot arm, specification of Denavit-Har- tenberg system parameters and obtaining the direct and in verse kinematic solutions that use this matrices and para meters have been explained by the help of examples. Work spaces and possible robot systems have been surveyed in the fourth section. Modular robot constructions C MRO and how the modules must be, are the subjects of the fifth section. MRC menus of ModulesH package programme has been introduced and drawing examples have been given in the sixth section.

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