The design of a new industrial-based robotic arm

daha sonraNowadays, rapid developments in science and industry increase the importance of robots that are designed to meet the needs of the industry. The biggest factor of the widespread use of the robotic systems is that these systems can operate in environments that are unfavorable for humans, reduce human-based workforce, and significantly increase the production efficiency and quality. Due to such advantages, robotic automation systems have been used efficiently in many fields including the automotive, pharmaceutical and defense industries. In this thesis, robot and manipulator systems used in today's industry have been investigated and a new manipulator design has been performed by putting the cost and functionality criteria into the foreground. In the first stage of the thesis, the design of the manipulator has been realized by drawing a two-dimensional (2D) model for each part in the SolidWorks program. Then, each part has been transformed into a three-dimensional (3D) solid model shape. The manufacturing of the solid model parts have been carried out using a 3D printer. The designed manipulator has 5 axes and carries out the transport process according to the information it receives from the peripherals. In the second stage of the thesis, the manipulator axes and servo motor assemblies of the manufactured parts have been made ready for use by assembling them. The stationary torque of the servo motor used in this thesis was obtained as 9.4 Kg /cm at 4.8 V and the shoulder torque of the manipulator used was obtained as 1.8402 kg / cm. In the third stage of the thesis, the coding of the designed system has been performed as C based on Atmega328P microcontroller which is developed by Atmel company. Then, the Atmega328P microcontroller, which provides control of the design, has been programmed with the help of serial communication UART (Universal Asynchronous Receiver/Transmitter)/USART(Universal Synchronous Asynchronous Recevier Transmitter) module. In the last stage of the thesis, Forward Kinematics, DH (Denavit-Hartenberg) parameter and Reverse Kinematics of the manipulator have been calculated as trigonometric based. Then, the Rigid Dynamic Analysis related to the strength of the designed manipulator under load has been performed using ANSYS program. In addition, by assigning the manipulator to the WorkBench, the static and dynamic analyses of the system under load and during rotation have been carried out with respect to Rigid Dynamic Analysis. Besides, according to the results of the analysis, improvements have been made in the design and the resultsi obtained as a result of the improvements have been evaluated.