Design, production and application of 3 axis robot

In this study, optimum design, production and kinematic analysis of a three-axis serial robot manipulator were made. The optimum design model was determined by obtaining and interpreting torque graphs as a result of static analysis and motion analysis in order to determine the motor requirements to be used by making a preliminary design for the robot manipulator. Considering the analysis results, 3 different design models were studied. In the static and motion analyzes performed on the robot manipulator model, stress distributions, maximum von mises stress zones, safety coefficients and maximum torque graphs at the motor joint points were examined and the parts that needed optimization were determined. By changing the geometries of the arms used in the 2nd and 3rd axes in a three-axis serial robot manipulator, the system is lightened and results that do not exceed the maximum motor torque curves and meet the static requirements are obtained. At the same time, the experimental system was produced by making the exact production of the model determined after the optimization. One 2.2 Nm, two 11 Nm stepper motors and CWD556 stepper motor module were used in the experimental system. 5 Axis LPT Control Card 600 Mhz is used for motion control.The motion inputs made in the Solidworks program were also applied on the experimental system.