Design and experimental evaluation of a dynamically balanced over-constrained planar 6R parallel manipulator
Başlık:
Design and experimental evaluation of a dynamically balanced over-constrained planar 6R parallel manipulator
Yazar:
Özkahya, Merve, author.
Yazar Ek Girişi:
Fiziksel Tanımlama:
xiv, 125 leaves: color illustrarions, charts;+ 1 computer laser optical disc
Özet:
With the development of the industry, the number of robots used in the production line is increasing day by day. Particularly, it is known that parallel robots are better in terms of positioning accuracy compared to serial robots based on the stretching of robot arms. In parallel mechanisms, there are many factors such as calibration, stability and dynamic balancing of the mechanism affecting positioning accuracy. The aim of this thesis is to dynamically balancing parallel mechanisms to improve positioning accuracy. In high acceleration applications, the shaking force and moment are the factors that cause vibration in the base of the mechanism. These vibrations can be reduced by designing dynamically balanced mechanisms. In this thesis, over- and simply constrained 6R mechanisms are designed for dynamic balancing studies and prototypes are produced. The counter mass method was used to balance the mechanism dynamically. The design of the masses was made according to the mass information received from the model designed in the computer aided drawing program and the parts of the mechanisms were updated according to their actual mass values after they were produced. The design of the masses is designed according to the mass information from CAD model and the parts of the mechanisms are updated according to their actual mass values after they are produced. Dimensional measurements were taken by FARO Prime Arm device due to faults that may arise from the production in the parts of the mechanism after production. Then the mechanism was assembled. Before carrying out the balancing tests, calibration studies affecting the positioning accuracy of the over-constrained mechanism were carried out. Finally, the mechanism is activated balanced and unbalanced and the acceleration effect of the 6-axis accelerometer is obtained experimentally.
Yazar Ek Girişi:
Tüzel Kişi Ek Girişi:
Tek Biçim Eser Adı:
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).
Elektronik Erişim:
Access to Electronic Versiyon.