Publication: Hareketli üretim platformu montaj otomasyonu için yüksek erişimli hafifleştirilmiş scara robot geliştirilmesi ve prototip uygulaması
Abstract
HAREKETLİ ÜRETİM PLATFORMU MONTAJ OTOMASYONU İÇİN YÜKSEK ERİŞİMLİ HAFİFLEŞTİRİLMİŞ SCARA ROBOT GELİŞTİRİLMESİ VE PROTOTİP UYGULAMASIEndüstride kullanılmak için farklı özellik ve yapıda tasarlanmış pek çok endüstriyel robot bulunmaktadır. Endüstride robotlar üretim maliyetini azaltmak, daha kaliteli ve eşdeğer ürünler imal etmek için kullanılmaktadır. Ayrıca insan sağlığını tehdit eden riskli ortamlarda (çok yüksek ısı, yüksek ses, nükleer enerji, kimyasal enerji, titreşim, v.b) ve insanların erişemeyeceği bölgelerde robotlardan faydalanılmaktadır. Ekonomik açıdan ileride olan ülkelerin üretim sistemlerine bakıldığında otomasyon teknolojilerini aktif bir biçimde kullandığı görülmektedir. Otomasyon sistemlerinin önemli bir elemanı olan endüstriyel robot kolların önemi artmaya devam etmektedir. Üretim sistemlerinde robot teknolojisi kullanan ülkeler/ firmalar rakiplerine şans tanımamaktadır.Yapılan çalışma ile kütle imalatı yapan firmalarda; Üretim süresinin azaltılması, üretimde kalitenin arttırılması, ulusal ölçekli firmaların gelişimini desteklemek ve küresel piyasada söz sahibi olmalarını sağlamak, sektördeki robot ithalatından doğan maliyet yükünün azaltılması ve farklı sistemlere kolayca adapte edilebilmesi amaçlanmaktadır.Bu çalışmada, endüstriyel üretimde sıklıkla kullanılan 4 eksenli SCARA robot kolun SolidWorks boyutlu modellemesi yapılmış ve bu programın Simulation eklentisi ile statik analizleri gerçekleştirilmiştir. Robot kol, erişim mesafesi ihtiyaca göre artırılıp azaltılabilecek şekilde modüler bir yapıda tasarlanmıştır. Sonlu Elemanlar Metoduyla, erişim mesafesinin arttırılması durumunda robot kolda ve bağlantı elemanlarında oluşan gerilim ve yer değiştirme değerleri incelemiştir. Elde edilen sonuçlara göre gerekli iyileştirmeler yapılmıştır.
ABSTRACTHIGH ACCESSIBLE LIGHTWEIGHT SCARA ROBOT FOR MOBILE PRODUCTION PLATFORM MOUNTING AUTOMATIONThere are many robots designed for different features and structures to be used in the industry. Robots are often used to lower production costs and to produce better and equivalent production. In addition, robots are used in places that are dangerous for human health (chemical energy, nuclear energy, very high temperature, vibration, loud noise etc.) and places where human hands cannot reach.When the production systems of economically developed countries are examined, automation technologies are seen to be used effectively. The importance of industrial robot arms is increasing day by day. Countries that equip their production systems with robot technology compete better with other countries.In the firms that make mass production with the study made; To reduce the production period, to increase the quality of production, to support the development of national scale companies and to have a say in the global market, to reduce the cost burden from the robot imports in the sector, and to be easily adaptable to different systems.In this study, a 4-axis SCARA robot arm, which is widely used in the industry, was designed with the SolidWorks program and static analysis was performed with Simulation, the analysis add-on of the program. The parts forming the robot arm are modeled and assembled in three dimensions. The robot arm is designed in a modular structure so that the access distance can be increased or decreased according to the need. By means of the finite element method, we investigated the stress and displacement values of the robot arm and the fasteners when the access distance is increased. The necessary improvements were made according to the results obtained.
ABSTRACTHIGH ACCESSIBLE LIGHTWEIGHT SCARA ROBOT FOR MOBILE PRODUCTION PLATFORM MOUNTING AUTOMATIONThere are many robots designed for different features and structures to be used in the industry. Robots are often used to lower production costs and to produce better and equivalent production. In addition, robots are used in places that are dangerous for human health (chemical energy, nuclear energy, very high temperature, vibration, loud noise etc.) and places where human hands cannot reach.When the production systems of economically developed countries are examined, automation technologies are seen to be used effectively. The importance of industrial robot arms is increasing day by day. Countries that equip their production systems with robot technology compete better with other countries.In the firms that make mass production with the study made; To reduce the production period, to increase the quality of production, to support the development of national scale companies and to have a say in the global market, to reduce the cost burden from the robot imports in the sector, and to be easily adaptable to different systems.In this study, a 4-axis SCARA robot arm, which is widely used in the industry, was designed with the SolidWorks program and static analysis was performed with Simulation, the analysis add-on of the program. The parts forming the robot arm are modeled and assembled in three dimensions. The robot arm is designed in a modular structure so that the access distance can be increased or decreased according to the need. By means of the finite element method, we investigated the stress and displacement values of the robot arm and the fasteners when the access distance is increased. The necessary improvements were made according to the results obtained.
Description
Keywords
automation, Bilgisayar benzetimi, Computer simulation, endüstriyel robot Finite Element Analysis, industrial robot, manipulator, manipülatör, Mechatronics, Mekatronik, moduler robot, modüler robot, otomasyon, Robotics, Robotik, Robotlar, Endüstriyel, Robots, Industrial, SCARA, Sonlu Elemanlar Analizi