Macro-micro robotic manipulation: A laser cutting case study için kapak resmi
Macro-micro robotic manipulation: A laser cutting case study
Başlık:
Macro-micro robotic manipulation: A laser cutting case study
Yazar:
Uzunoğlu, Emre, author.
Yazar Ek Girişi:
Fiziksel Tanımlama:
xiii, 135 leaves: color illustrarions, charts;+ 1 computer laser optical disc.
Özet:
This dissertation focuses on investigation and devising of proper methodology to utilize a special type of kinematic redundancy, namely macro–micro manipulation, in the scope of robotic science. Briefly, macro-micro manipulation is comprised of two kinematically different mechanisms that have distinct characteristics, which work on macro and micro-scale. Aim of this dissertation is to present the most convenient motion planning and control algorithm to resolve kinematic redundancy for macro-micro manipulation concept. Controller designs, including the motion planning algorithms are devised taking into account the selected industrial case study. Additionally, a general framework controller is developed for macro-micro manipulation. Experiments with industrial setup and simulation verifications are done for the proposed methodologies. It is proven with simulation test results and experiments that the task completion duration for a laser cutting machine is reduced by enhancing the acceleration capability with the macro-micro manipulation. Although the proposed methodologies are implemented for a specific case, it can also be used for other systems considering the versatility of the proposed methodology. The core novelty of this research is the introduction of methodologies in order to achieve the maximum efficiency for the combined use of macro and micro-scaled manipulators. As an outcome of this study, a redundant laser cutting machine that can move with higher accelerations by making use of macro-micro manipulation is developed as a first of its kind in the Turkish machine industry and third of its kind in the world.
Yazar Ek Girişi:
Tek Biçim Eser Adı:
Thesis (Doctoral)--İzmir Institute of Technology: Mechanical Engineering.

İzmir Institute of Technology: Mechanical Engineering--Thesis (Doctoral).
Elektronik Erişim:
Access to Electronic Versiyon.
Ayırtma: Copies: