MAKAS-MAFSAL MEKANİZMA TEKNİĞİ KULLANILARAK İKİ SERBESTLİK DERECELİ KABLOLU RADYAL MAKAS SİSTEMİ TASARIMI VE EKLEMELİ İMALAT YÖNTEMİ İLE ÜRETİMİ
Öz
İki veya daha yüksek serbestlik dereceli makas-mafsal mekanizmaları başta endüstriyel robotlar olmak üzere birçok makinada aktif olarak kullanılmaktadır. Günümüzde teknolojik gelişmelerde estetik ve verimlilik için yeni tasarımlar denenmektedir. Makas-mafsal mekanizmalarında kuvvet iletimi çoğunlukla piston, kablo ve yay sistemleriyle gerçekleştirilmektedir. Bu çalışmada, radyal hareket kabiliyetine sahip katlanabilir makas mekanizma tasarımı gerçekleştirilmiştir. Kablo ile içbükey veya dış bükey şekillere dönüştürülebilen iki serbestlik dereceli açılı makas mekanizmasının üretilmesi hedeflenmiştir. Geliştirilen mekanizma tasarımının topolojik optimizasyonu Autodesk Fusion 360 tasarım programı kullanılarak yapılmıştır. Tasarlanan modelin üretimi eklemeli üretim yöntemi ile 3B yazıcı kullanılarak elde edilmiştir. Üretilen nihai parçalar cıvatalar yardımıyla entegre edilerek makas mekanizması elde edilmiştir. İmalattan sonra mekanizmada ortaya çıkan mekanik sistem kaynaklı sorunlar tasarım üzerinde iyileştirmeler yapılarak çözülmüştür. Üretilen iki farklı prototip üzerinde karşılaştırmalar yapılmıştır. Ayrıca, elde edilen sistemin analitik çözümü deneysel sonuçlarla karşılaştırılmıştır.
Anahtar Kelimeler
Eklemeli İmalat Radyal Makas Mekanizması Makas-mafsal mekanizması Anti-paralelkenar
Teşekkür
Çalışmada desteklerinden dolayı Sayın Sebahattin Çakı (CF Control)’ya teşekkürlerimizi bildiririz.
Kaynakça
- S. Gheshmi and M. Shahinpoor, Robotic surgery: smart materials, robotic structures, and artificial muscles. Pan Stanford Publishing, 2015.
- S. Dilibal, H. Sahin, Y. Çelik, Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator. Archives of Mechanics, 70(5), pp. 391-404, 2018.
- S. Dilibal, Nikel-titanyum şekil bellekli alaşım üretimi ve şekil bellek eğitimi, Doktora tezi, Yıldız Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Istanbul, 2005.
- S. Dilibal, H. Sahin, E. Dursun, E.D. Engeberg, Nickel–titanium shape memory alloy-actuated thermal overload relay system design. Electrical Engineering, 99(3), 2017.
- S. Dilibal, Stabilized actuation of a novel NiTi shape memory alloy actuated flexible structure under thermal loading. Materiali in Tehnologije, 52(5), pp. 599-605, 2018.
- S. Dilibal, The effect of long-term heat treatment on the thermomechanical behavior of NiTi shape memory alloys in defense and aerospace applications. Defense Science Journal, 15(2), pp. 1-23, 2016.
- G. Peduk, S. Dilibal, O. Harrysson, S. Ozbek, H. West, Characterization of Ni–Ti alloy powders for use in additive manufacturing. Russian Journal of Non-Ferrous Metals, 59(4), pp.433-439, 2018.
- C. Ozbaran, S. Dilibal, Parallel jaw robotic gripper design and production with additive manufacturing method by using horizontal and vertical rack and pinion gear mechanism, Int. J. of 3D Printing Tech. Dig. Ind., 4(2), pp. 139-151, 2020.
- T. Kokawa, T. Hokkaido, cable scissors arch–marionettic structure, IASS International Colloquium, pp. 107–114, 1997.
- F. Maden, K. Korkmaz, and Y. Akgn, A review of planar scissor structural mechanisms: geometric principles and design methots, Architectural Science Rev., vol. 54, no. 3, pp. 246–257, 2011.
- M. Matheou, M. C. Phocas, E. G. Christoforou, and A. Mller, On the kinetics of reconfigurable hybrid structures, J. of Building Eng., vol. 17, pp. 32–42, 2018.
- F.A. dos Santo, A. Rodrigue, A. Micheletti, Design and experimental testing of an adaptive shape-morphing tensegrity structure, with frequency self-tuning capabilities, using shape-memory alloys, Smart Materials and Structures, 7, 2015.
- R. E. Skelton and M. C. de Oliveira, Tensegrity systems, Springer, 2009.
- S. Gur, C. Karagoz, G. Kiper, K. Korkmaz, Synthesis of Scalable Planar Scissor Linkages with Anti-Parallelogram Loops, Proceedings of the 7th European Conference on Mechanism Science, pp. 3, 2019.
- J. Begey, M. Vedrines, P. Renaud, Design of Tensegrity-based Manipulators: comparison of two approaches to respect a remote center of motion constraint, IEEE Robotıcs and Automatıon Letters, pp. 2-7, 2020.
- D.L. Bakker, D. Matsuura, Y. Takeda, J.L. Herder, Design of an Environmentally Interactive Continuum Manipulator, The 14th IFToMM World Congress, Taipei, Taiwan, pp. 5-6, 2015.
- M. Arsenault and C. M. Gosselin, Kinematic and static analysis of a planar modular 2-DoF tensegrity mechanism, IEEE Int. Conf. on Robotic and Automation, pp. 4193–4198, 2006.
- W. Yu, X. Wang, E. Ferraris, J. Zhang, Melt crystallization of PLA/Talc in fused filament fabrication, Materials and Design, 3, 2019.
DESIGN AND ADDITIVE MANUFACTURING OF TWO-DEGREE OF FREEDOM WIRED RADIAL SCISSOR SYSTEM USING SCISSOR-JOINT MECHANISM
Öz
Scissor-joint mechanisms with two or higher degrees of freedom are actively used in many machines, especially industrial robots. Novel designs are being tried for aesthetics and efficiency in technological developments. In scissor-joint mechanisms, force transmission is mostly carried out by piston, cable and spring systems. In this study, foldable scissor mechanism design with radial motion was built. It is aimed to produce scissor mechanisms with two degrees of freedom that can be converted into concave or convex shapes via cables. The topological optimization of the mechanism design was done using the Autodesk Fusion 360 design program. The production of the designed model was achieved using the additive manufacturing technology. The final scissor mechanism was obtained by integrating the produced parts. Mechanical system related problems arising in the mechanism after manufacturing were solved by making revisions on the design. Comparisons were made on two different prototypes produced. Additionally, the analytical solution of the obtained system is compared with the experimental results.
Anahtar Kelimeler
Radial Scissor Mechanism Additive Manufacturing Scissors-joint mechanism Anti-parallelogram
Kaynakça
- S. Gheshmi and M. Shahinpoor, Robotic surgery: smart materials, robotic structures, and artificial muscles. Pan Stanford Publishing, 2015.
- S. Dilibal, H. Sahin, Y. Çelik, Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator. Archives of Mechanics, 70(5), pp. 391-404, 2018.
- S. Dilibal, Nikel-titanyum şekil bellekli alaşım üretimi ve şekil bellek eğitimi, Doktora tezi, Yıldız Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Istanbul, 2005.
- S. Dilibal, H. Sahin, E. Dursun, E.D. Engeberg, Nickel–titanium shape memory alloy-actuated thermal overload relay system design. Electrical Engineering, 99(3), 2017.
- S. Dilibal, Stabilized actuation of a novel NiTi shape memory alloy actuated flexible structure under thermal loading. Materiali in Tehnologije, 52(5), pp. 599-605, 2018.
- S. Dilibal, The effect of long-term heat treatment on the thermomechanical behavior of NiTi shape memory alloys in defense and aerospace applications. Defense Science Journal, 15(2), pp. 1-23, 2016.
- G. Peduk, S. Dilibal, O. Harrysson, S. Ozbek, H. West, Characterization of Ni–Ti alloy powders for use in additive manufacturing. Russian Journal of Non-Ferrous Metals, 59(4), pp.433-439, 2018.
- C. Ozbaran, S. Dilibal, Parallel jaw robotic gripper design and production with additive manufacturing method by using horizontal and vertical rack and pinion gear mechanism, Int. J. of 3D Printing Tech. Dig. Ind., 4(2), pp. 139-151, 2020.
- T. Kokawa, T. Hokkaido, cable scissors arch–marionettic structure, IASS International Colloquium, pp. 107–114, 1997.
- F. Maden, K. Korkmaz, and Y. Akgn, A review of planar scissor structural mechanisms: geometric principles and design methots, Architectural Science Rev., vol. 54, no. 3, pp. 246–257, 2011.
- M. Matheou, M. C. Phocas, E. G. Christoforou, and A. Mller, On the kinetics of reconfigurable hybrid structures, J. of Building Eng., vol. 17, pp. 32–42, 2018.
- F.A. dos Santo, A. Rodrigue, A. Micheletti, Design and experimental testing of an adaptive shape-morphing tensegrity structure, with frequency self-tuning capabilities, using shape-memory alloys, Smart Materials and Structures, 7, 2015.
- R. E. Skelton and M. C. de Oliveira, Tensegrity systems, Springer, 2009.
- S. Gur, C. Karagoz, G. Kiper, K. Korkmaz, Synthesis of Scalable Planar Scissor Linkages with Anti-Parallelogram Loops, Proceedings of the 7th European Conference on Mechanism Science, pp. 3, 2019.
- J. Begey, M. Vedrines, P. Renaud, Design of Tensegrity-based Manipulators: comparison of two approaches to respect a remote center of motion constraint, IEEE Robotıcs and Automatıon Letters, pp. 2-7, 2020.
- D.L. Bakker, D. Matsuura, Y. Takeda, J.L. Herder, Design of an Environmentally Interactive Continuum Manipulator, The 14th IFToMM World Congress, Taipei, Taiwan, pp. 5-6, 2015.
- M. Arsenault and C. M. Gosselin, Kinematic and static analysis of a planar modular 2-DoF tensegrity mechanism, IEEE Int. Conf. on Robotic and Automation, pp. 4193–4198, 2006.
- W. Yu, X. Wang, E. Ferraris, J. Zhang, Melt crystallization of PLA/Talc in fused filament fabrication, Materials and Design, 3, 2019.
Ayrıntılar
| Birincil Dil | Türkçe |
|---|---|
| Konular | Makine Mühendisliği |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Yayımlanma Tarihi | 31 Aralık 2020 |
| Gönderilme Tarihi | 28 Kasım 2020 |
| Yayımlandığı Sayı | Yıl 2020 Cilt: 4 Sayı: 3 |
Kaynak Göster
Cited By
MODAL FREQUENCY ANALYSES OF THE VARIABLE STIFFNESS MECHANISM DESIGN OF THE SOFT ROBOTIC SYSTEM
International Journal of 3D Printing Technologies and Digital Industry
https://doi.org/10.46519/ij3dptdi.961893
Uluslararası 3B Yazıcı Teknolojileri ve Dijital Endüstri Dergisi Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı ile lisanslanmıştır.