Bir delta robot manipülatörün entegre tasarım ve analizi

In this graduate thesis, integrated design and analysis activities were carried out for a delta robot. In this context, the kinematic model of a predetermined robot was created using Matlab. With this model, the motor angular position and velocity required for the desired endpoint movements are calculated. Using this data, data such as natural frequency and static deflection were collected from the robot at a certain endpoint position. ANSYS Workbench was used for the analysis of the robot and equivalent limbs with simple cross-sectional properties were designed for the complex geometry of the robot. Effective inertia calculations have been made for the motor and gearbox system used in the drive, the rigidity has been determined by taking measurements from the system. An equivalent model has been presented for the drive system. An equivalent analysis model was established for the delta robot by combining the obtained limb and drive system models. The validity of the analysis model was confirmed by comparing the natural frequency and static deformation values obtained from model with the measurements taken on the robot. Using this model, the workspace rigidity of the robot was investigated. With the help of the analysis model, endpoint vibrations were collected for motion in a circular orbit. Measurements taken for the same route on the robot were used for comparison. It was discussed how successfully the equivalent analysis model developed represents the stationary and mobile state. The sources of the observed differences have been emphasized. Suggestions for reducing them have been presented.