6 degrees of freedom industrial serial robot design and manufacturing

In this thesis, a six degree of freedom industrial series robot arm is designed and manufactured. Motion algorithms are created for the control of the robot arm, and these algorithms are integrated into the program developed in Visual C# (WPF-HelixToolKit language) in our laboratory. STM32F407VGT6 model developed by STM company is used as a microcontroller on the control side, and stepper motors are preferred in the movement mechanism. Drives suitable for stepper motors are selected and operationalized by making all connections. We design the gearboxes to be used on the robot. The gear parts are ordered from abroad while other necessary parts are manufactured and the assembly is completed. These gearboxes are used on the robot designed and manufactured by us. The main objective of the software developed for our thesis is to calculate all the values of the robot according to the work to be done offline and simulate them on the screen. Furthermore, the calculated robot angles and speed values are sent to the microprocessor side of the robot, which is the lower-level part of the robot, so that the robot can perform its task in the real environment. By simulating the robot arm in three dimensions in our developed software, we aim to improve the mobility of the robot and to minimize the dimensional errors as much as possible. This simulation gives us the opportunity to compare the real and simulated performances of the robot, which sheds light on mechanical problems.