Inverse robot arm mechanism design, control and simulation

Throughout history, humanity has carried out numerous efforts to facilitate daily life. With the development of industry, efforts to reduce the need for human labor have always been a focus of science, aiming for both time and cost savings. In this context, robotic automation systems, which minimize human workload and enable tasks to be performed automatically, have gained significant importance. Various types of robots have been developed to meet different needs, with robotic arms that mimic the functions of a human arm being the most commonly used. This thesis focuses on the design of a robotic arm with an inverse mechanism, aiming to address two identified industrial problems. The first problem is the space occupied by the robotic arm. The second problem is that the robotic arm is fixed on the production bench, limiting its activity to a single production line, thus necessitating a separate robotic arm for each bench, which increases costs. To address these issues, a six-axis robotic arm mechanism integrated into a ceiling-mounted rail system was designed, its mathematical model was created, and its dynamic analysis and simulation were performed in MATLAB. The simulation ensured that the robotic arm approached a designated target object, grasped it, transported it, and released it at a specified location. A PID controller model was used to enable the system to perform this controlled movement. The position-time (theta-time) graphs obtained from the simulation showed that the system moved according to the specified reference values. As a result of this study, it was demonstrated that the inverse robotic arm mechanism successfully addressed the two primary problems for which it was designed.