Yedekli kabloyla çalışan paralel robotlarda kablo bağlantı noktalarının optimize edilmesine yönelik son efektör uyumluluk endeksi: Çimento esaslı eklemeli üretim için tasarım, üretim, ve kontrol

This thesis presents a Cable-Driven Parallel Robot (CDPR) for additive manufac- turing that has been designed, constructed, and controlled based on an introduced methodology for cable anchor point selection. The design and construction procedure of the CDPR was explained. The designed CDPR is a suspended type and redun- dantly actuated system. The robot comprises various components, including a frame for building the robot, cables connected to the end-effector, pulleys redirecting the cables to the end-effector from winches, winches for controlling cable length, an end- effector for printing, and an electrical panel to house electrical equipment. The cable tensions and stiffness of the end-effector were analyzed to achieve the desired size of the robot. To achieve this, the end-effector compliance index (ECI) was proposed to assess the stiffness of the end-effector within the workspace. This novel index uses cable direction vectors and cable lengths to determine the compliance of the given robot pose. Simulation results led to the development of a relation for obtaining an improved CDPR frame size, applicable to both suspended and constrained type CDPRs. Based on these simulations, a redundantly actuated suspended cable-driven parallel robot was constructed for a 1 m base length print part. Motion tracking ex- periments were conducted to assess the mobility and accuracy of the designed robot. The robot's working accuracy was evaluated by testing various printing paths. The experimental results verified that the developed system can achieve printing with an accuracy margin of less than 0.2%.