A SCARA-TYPE 3D PRINTER DESIGN AND EXPERIMENTAL VALIDATION

Ahmet Saygın Öğülmüş; Mustafa Tınkır

Makale detayları

A SCARA-TYPE 3D PRINTER DESIGN AND EXPERIMENTAL VALIDATION

Yazarlar:

Ahmet Saygın Öğülmüş | Mustafa Tınkır

Yayıncı:

Kirikkale University

Ana Başlıklar:

Machine Theory and Dynamics

Dergi:

International Journal of Engineering Research and Development Vol.16 Issue 1, pp.127-140

Belge Tipi:

Makale

Yayın Tarihi:

1/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001310738

pISSN:

1308-5506

Anahtar kelimeler:

Özet:

 This study designed and produced a Selective Compliance Assembly Robot Arm SCARA-type three-dimensional Fused Deposition Modelling FDM printer with three degrees of freedom based on kinematic and dynamic analyses. The dynamic capability of a SCARA robot and the FDM production method were combined, and a unique printer system was obtained by using open-source software. The Kinematic Calculations were achieved by analytical methods by using geometrical equations. An open-loop control system was created by inputting forward kinematic and inverse kinematic equations to the control software. The printing processes of the Cube and Prism samples were carried out with the SCARA-type three-dimensional printer. The data obtained from the analytical calculations and the results obtained from the experiments were compared, and the error rates in the desired and obtained prints and findings that were obtained based on print quality were shared. Academic studies on SCARA in the literature have usually focused on the dynamic calculations, design and control of SCARA robots, and especially in recent years, implementation of nature-inspired algorithms. A unique printer system was obtained by using open-source software. Prints were taken from cube and prism samples, and the samples were compared to the data obtained from the analytical results.This study implemented a form of a hybrid printer model where the movement capability of a SCARA robot was combined with FDM-type three-dimensional printer production technology. The SCARA-type three-dimensional printer was produced after making kinematic and kinetic calculations.

 This study designed and produced a Selective Compliance Assembly Robot Arm SCARA-type three-dimensional Fused Deposition Modelling FDM printer with three degrees of freedom based on kinematic and dynamic analyses. The dynamic capability of a SCARA robot and the FDM production method were combined, and a unique printer system was obtained by using open-source software. The Kinematic Calculations were achieved by analytical methods by using geometrical equations. An open-loop control system was created by inputting forward kinematic and inverse kinematic equations to the control software. The printing processes of the Cube and Prism samples were carried out with the SCARA-type three-dimensional printer. The data obtained from the analytical calculations and the results obtained from the experiments were compared, and the error rates in the desired and obtained prints and findings that were obtained based on print quality were shared. Academic studies on SCARA in the literature have usually focused on the dynamic calculations, design and control of SCARA robots, and especially in recent years, implementation of nature-inspired algorithms. A unique printer system was obtained by using open-source software. Prints were taken from cube and prism samples, and the samples were compared to the data obtained from the analytical results.This study implemented a form of a hybrid printer model where the movement capability of a SCARA robot was combined with FDM-type three-dimensional printer production technology. The SCARA-type three-dimensional printer was produced after making kinematic and kinetic calculations.

 This study designed and produced a Selective Compliance Assembly Robot Arm SCARA-type three-dimensional Fused Deposition Modelling FDM printer with three degrees of freedom based on kinematic and dynamic analyses. The dynamic capability of a SCARA robot and the FDM production method were combined, and a unique printer system was obtained by using open-source software. The Kinematic Calculations were achieved by analytical methods by using geometrical equations. An open-loop control system was created by inputting forward kinematic and inverse kinematic equations to the control software. The printing processes of the Cube and Prism samples were carried out with the SCARA-type three-dimensional printer. The data obtained from the analytical calculations and the results obtained from the experiments were compared, and the error rates in the desired and obtained prints and findings that were obtained based on print quality were shared. Academic studies on SCARA in the literature have usually focused on the dynamic calculations, design and control of SCARA robots, and especially in recent years, implementation of nature-inspired algorithms. A unique printer system was obtained by using open-source software. Prints were taken from cube and prism samples, and the samples were compared to the data obtained from the analytical results.This study implemented a form of a hybrid printer model where the movement capability of a SCARA robot was combined with FDM-type three-dimensional printer production technology. The SCARA-type three-dimensional printer was produced after making kinematic and kinetic calculations.

 Bu çalışmada, kinematik ve dinamik analizlere dayalı olarak üç serbestlik dereceli bir SCARA tipi üç boyutlu FDM yazıcı tasarlanmıştır ve imal edilmiştir. Bir SCARA robotunun dinamik yetenekleri ile FDM üretim yöntemi birleştirilmiş ve açık kaynaklı yazılım kullanılarak benzersiz bir yazıcı sistemi elde edilmiştir. Kinematik hesaplamalar, geometrik eşitlikler kullanılarak analitik yöntemlerle gerçekleştirilmiştir. İleri kinematik ve ters kinematik denklemleri kontrol yazılımına girilerek açık döngü kontrol sistemi oluşturulmuştur. Küp ve prizma örneklerinin baskı işlemleri SCARA tipi üç boyutlu yazıcı ile gerçekleştirilmiştir. Analitik hesaplamalardan elde edilen veriler ve deneylerden elde edilen sonuçlar karşılaştırılmış ve istenen ve elde edilen baskılardaki hata oranları ve baskı kalitesine dayalı bulgular paylaşılmıştır. Literatürdeki akademik çalışmalar genellikle SCARA robotlarının dinamik hesaplamalarına, tasarımına ve kontrolüne odaklanmıştır ve özellikle son yıllarda doğa esinli algoritmaların uygulanması üzerinde durulmuştur. Bu çalışmada bir SCARA robotunun hareket kabiliyeti, FDM tipi üç boyutlu yazıcı üretim teknolojisiyle birleştirildiği bir hibrit yazıcı modeli uygulanmıştır. SCARA tipi üç boyutlu yazıcı, kinematik ve kinetik hesaplamalar yapıldıktan sonra üretilmiştir.

Makale detayları

A SCARA-TYPE 3D PRINTER DESIGN AND EXPERIMENTAL VALIDATION

Yazarlar:

Ahmet Saygın Öğülmüş | Mustafa Tınkır

Yayıncı:

Kirikkale University

Ana Başlıklar:

Machine Theory and Dynamics

Dergi:

International Journal of Engineering Research and Development Vol.16 Issue 1, pp.127-140

Belge Tipi:

Makale

Yayın Tarihi:

1/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001310738

pISSN:

1308-5506

SCARA

three-dimensional printer

kinematics

kinetic analysis

design

production.scara

üç boyutlu yazıcı

kinematik

kinetik analiz

tasarım

üretim

Sayı

Makale detayları

Yazarlar: Ahmet Saygın Öğülmüş | Mustafa Tınkır

Yayıncı: Kirikkale University

Ana Başlıklar: Machine Theory and Dynamics

Dergi: International Journal of Engineering Research and Development Vol.16 Issue 1, pp.127-140

Belge Tipi: Makale

Yayın Tarihi: 1/2024

Belge Dili: İngilizce

Document ID (Org No.): 2001310738

pISSN: 1308-5506

Sayı

Yazarlar:

Ahmet Saygın Öğülmüş | Mustafa Tınkır

Yayıncı:

Kirikkale University

Ana Başlıklar:

Machine Theory and Dynamics

Dergi:

International Journal of Engineering Research and Development Vol.16 Issue 1, pp.127-140

Belge Tipi:

Makale

Yayın Tarihi:

1/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001310738

pISSN:

1308-5506