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Genel Amaçli Robot Kolu Tasarimi

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Genel Amaçli Robot Kolu Tasarimi DOKUZ EYLÜL ÜNøVERSøTESø FEN Bø/øMLERø ENSTøTÜSÜ GENEL AMAÇLI ROBOT KOLU TASARIMI Orhan Efe ALP Nisan, 2012 øZMøR GENEL AMAÇLI ROBOT KOLU TASARIMI Dokuz Eylül Üniversitesi Fen Bilimleri Enstitüsü Yüksek Lisans Tezi Mekatronik Mühendisli÷i Bölümü, Mekatronik Mühendisli÷i ProgramÕ Orhan Efe ALP Nisan, 2012 øZMøR TEùEKKÜR ÇalÕúmalarÕm boyunca de÷erli yardÕm ve katkÕlarÕyla beni yönlendiren, hoúgörü ve sabÕr gösteren de÷erli hocam ve tez danÕúmanÕm Yrd. Doç. Dr. Nalan ÖZKURT’a, yine önemli tecrübelerinden faydalandÕ÷Õm Prof. Dr. Erol UYAR hocama, robotik konusunda yo÷un tecrübelerinden yararlandÕ÷Õm de÷erli arkadaúÕm Aytekin GÜÇLÜ ’ye, mekanik aksam konusunda yo÷un eme÷i geçen, atölye ve teçhizatlarÕQÕ kullanÕPÕma açan de÷erli ustalarÕm Önder ve Erkan KURTKAFA’ya, bana verdikleri destek için çok teúekkür ederim. Son olarak bu günleri görmemi sa÷layan, hayatÕmda herúeyi borçlu oldu÷um herúeyden çok sevdi÷im, güvenlerini ve sevgilerini her zaman yo÷un hissetti÷im Húim Hatice ALP, annem Nüzhet ALP, babam Ali Ergün ALP, ablalarÕm Fethiye Yelkin ALP, Ceren SERøNKAN, Canan TOKEM, dayÕm Niyazi TOKEM ve anneannem Fikriye TOKEM’ en büyük teúekkürü borç bildi÷imi söylemek isterim. Orhan Efe ALP iii GENEL AMAÇLI ROBOT KOLU TASARIMI ÖZ Bu tez, üç eksen ve bir adet tutucuya sahip bir robot manipülatör ve robot manipülatöre insansÕ el hassasiyeti kazandÕrmak amacÕ ile ivmeölçer sensörlerden gönderilen komutlarla yönlendirilen, mikroiúlemci ailesinden PIC ile kontrol edilen servo motor sürücü kartÕ tasarÕm çalÕúmasÕQÕ ortaya koymaktadÕr. Robot manipülatörün tasarÕPÕ için Dassault Systemes firmasÕQÕn üretti÷i Solidworks programÕ kullanÕlmÕúWÕr. BaskÕ devre tekni÷i ile üretilen 5 adet servo motoru sürebilen motor sürücü kartÕ Proteus ve Eagle çizim programlarÕnda tasarlanmÕú ve çizilmiútir. ønsansÕ el hassasiyeti, motor sürücü kartÕQÕn donanÕPÕ göz önünde tutularak freescale firmasÕQÕn üretti÷i orta sÕQÕf üç eksen ivmeölçer sensörler seçilerek sa÷lanmÕúWÕr. Robot kolunun gövdesinin ve uzuvlarÕQÕn oluúturulmasÕnda pleksiglas, kestamid ve alüminyum malzemeler seçilmiú, solidworks’de tasarlanan parçalar lazer kesimle imal edilmiútir. ønsan elinin hassasiyetini algÕlayarak çalÕúan orta sÕQÕf ivmeölçerler ile robot prototibini hareket ettiren düzenek, yüksek yatÕUÕm maliyetleriyle profesyonel olarak oluúturulmasÕ durumunda, kumanda kolu veya ö÷retme bilgileriyle kontrölü yapÕlan robotlardan farklÕ olarak insan el hassasiyetinin birebir kopyalamasÕQÕ yapabilecek úekilde tasarlanabilecektir. Anahtar sözcükler: Robot, manipülatör, servo, motor, tutucu, mikroislemci, pic, ivme ölçer, baskÕ devre, elektronik, proteus, eagle solidworks, insansÕ hareket. iv DESIGN OF ON GENERAL PURPOSE ROBOTIC ARM ABSTRACT In this thesis, a robotic arm which have three axes with a gripper, controlled by a PIC microcontroller servo driver card, is designed. The purpose of study, is design and implement a robot which processes the signals sent by the acceleration sensors and act like human movements. Solid Works program produced by Dassault Systemes company was used for the design of the robot manipulator. The driver card can drive five servo motors. Middle class three axis accelerometer sensors which produced by Freescale was used for human movements, selected on considering the motor driver card hardware. Plexiglass and aluminum materials were selected to create the body of robot arm and limb and all parts which designed with solid works were made of laser cut. If mechanism which moves the our robot prototype produced with middle-class accelerometers which works through to detect the sensitivity of the human hand, create by the high cost of investment, as diffrent from the robot controlled with joystick or by teaching method, the sensitivity of the human hand would be able to design one to one copy. Keywords: Robot, manipulator, rc, servo, motor, gripper, microprocessor, microcontroller, pic, printed, circuit, electronic, proteus, solidworks. v ødøNDEKøLER Sayfa YÜKSEK LøSANS TEZø SINAV SONUÇ FORMU.................................................ii TEùEKKÜR ........................................................................................................... iii ÖZ...........................................................................................................................iv ABSTRACT .............................................................................................................v BÖLÜM BøR – Gø5øù ............................................................................................1 1.1 Robot Nedir?..................................................................................................1 1.2 Önceki ÇalÕúmalar..........................................................................................2 1.3 Tezin AmacÕ...................................................................................................6 1.4 Tezin øçeri÷i...................................................................................................6 BÖLÜM ø.ø – ROBOT KAVRAMI.....................................................................7 2.1 Roboti÷e Giriú ................................................................................................7 2.2 Robot SÕQÕflandÕrmalarÕ ..................................................................................9 2.2.1 Robot Hareketinin Eksenleri....................................................................9 2.2.2 ÇalÕúma AlanÕ .........................................................................................9 2.2.3 Manipülatörün YapÕVÕna Göre SÕQÕflandÕrma .........................................10 2.2.3.1 Silindirik Koordinat Sistemi ..........................................................13 2.2.3.2 Küresel Koordinat Sistemi .............................................................15 2.2.3.3 Döner Koordinat Sistemi ...............................................................16 2.2.4 Robot Tiplerine Göre SÕQÕflandÕrma ......................................................19 2.2.4.1 Kartezyen Robotlar........................................................................19 2.2.4.2 MafsallÕ Robotlar...........................................................................20 2.2.4.2.1 MafsallÕ RobotlarÕn Özellikleri...............................................21 2.2.4.3 Scara Robotlar ...............................................................................22 2.2.4.3.1 Scara Tipi RobotlarÕn Özellikleri............................................22 vi 2.2.4.3.2 Scara Tipi RobotlarÕn YapÕVÕ ..................................................23 2.2.5 Hareket YapÕVÕna Göre SÕQÕflandÕrma....................................................24 2.2.5.1 Noktadan Noktaya Hareket Eden Robot Sistemleri ........................24 2.2.5.2 Sürekli GüzergâhlÕ Robot Sistemleri..............................................25 2.2.6 Kontrol Döngüsü Tipine Göre SÕQÕflandÕrma.........................................26 2.2.6.1 AçÕk Döngü Kontrol Sistemi..........................................................26 2.2.6.2 KapalÕ Döngü Kontrol Sistemi.......................................................26 2.3 Tutucular......................................................................................................27 2.3.1 Mekanik El ...........................................................................................28 2.3.2 Vakumlu Tutucular ...............................................................................29 2.3.3 Manyetik Tutucular...............................................................................29 2.4 Robotla øliúkili Matris Matemati÷i ................................................................30 2.4.1 Koordinat Sistemleri .............................................................................30 2.4.2 Matris Matemati÷i.................................................................................34 2.5 Robot Programlama......................................................................................35 2.5.1 Ö÷reti Yöntemi .....................................................................................35 2.5.2 Ara Yüz ProgramÕøle Programlama ......................................................36 BÖLÜM ÜÇ – ROBOT KOLU TASARIMI VE UYGULAMASI......................37 3.1 Robot Kolunun Tahrik ElemanlarÕ ve MontajÕ ..............................................37 3.1.1 RC Servo Motorlar................................................................................37 3.1.2 PWM ....................................................................................................40 3.2 Robot Kolu Mekanik TasarÕPÕ......................................................................41 3.2.1 Robot Kolunun Mekanik ElemanlarÕ .....................................................43 3.2.1.1 Robot Kolunun Taban Bölümü ......................................................44 3.2.1.2 Robot Kolunun Omuz Bölümü.......................................................51 3.2.1.3 Robot Kolunun Kol Bölümü ..........................................................53 3.2.1.4 Robot Kolunun Uç Etkileyici Bölümü............................................60 3.2.1.5 Robot Kolunun MontajÕQÕn TamamlanmasÕ....................................61 vii BÖLÜM DÖRT – ROBOT KOLUNUN ELEKTRONøK SøSTEMø..................64 4.1 Mikro Denetleyicinin TanÕWÕlmasÕ .................................................................64 4.2 Mikro Denetleyici Üreticileri ve Ürünleri .....................................................65 4.2.1 Neden PIC?...........................................................................................66
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