Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Zehranur YILMAZ; Orkun YILMAZ; Zafer BİNGUL

doi:https://doi.org/10.34088/kojose.677184

Makale detayları

Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Yazarlar:

Zehranur YILMAZ | Orkun YILMAZ | Zafer BİNGUL

Yayıncı:

Kocaeli University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Kocaeli Journal of Science and Engineering 2020 Vol.3 Issue 1, pp.9-15

Belge Tipi:

Makale

Yayın Tarihi:

5/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000528394

Sıklık:

İki Yıllık

eISSN:

2667-484X

DOI:

https://doi.org/10.34088/kojose.677184

Özet:

 

Within the scope of this study, firstly, mechanical structure of a six-axis serial manipulator was designed. Forward kinematic analysis was made using the Denavit-Hartenberg method, which provides the transition between cartesian coordinates, that is, the linear and angular positions of the end-effector, and joint coordinates; joint angles and linear displacements. In addition, to obtain the relation between the speed of joint variables and the speed of end effector, Jacobian matrix was derived. Dynamic analysis of the system based on Lagrange-Euler mathematical model was acquired. After the design phase was carried out in three-dimensional environment, the physical system-based dynamic model was obtained by transferring this data to the MATLAB-Simscape environment. Inverse dynamic problem was solved to verificate the 3D design of robot and suitablility of selected motors. To solve this problem, position, velocity and acceleration trajectories was given to dynamic model. As a result of this, each joint torques were obtained. The trajectories used in inverse dynamics were calculated using a fifth order polynomial function. Afterwards, in order to test the operation of the system in a simulated environment, PID based controller structures were applied to the dynamic model in MATLAB/Simulink simulation envirenmont and forward dynamic problem was reviewed and discussed.

Makale detayları

Design, Analysis and Simulation of a 6-DOF Serial Manipulator

Yazarlar: Zehranur YILMAZ | Orkun YILMAZ | Zafer BİNGUL

Yayıncı: Kocaeli University

Ana Başlıklar: Uygulamalı fizik

Dergi: Kocaeli Journal of Science and Engineering 2020 Vol.3 Issue 1, pp.9-15

Belge Tipi: Makale

Yayın Tarihi: 5/2020

Belge Dili: İngilizce

Document ID (Org No.): 2000528394

Sıklık: İki Yıllık

eISSN: 2667-484X

DOI: https://doi.org/10.34088/kojose.677184

Sayı

Yazarlar:

Zehranur YILMAZ | Orkun YILMAZ | Zafer BİNGUL

Yayıncı:

Kocaeli University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Kocaeli Journal of Science and Engineering 2020 Vol.3 Issue 1, pp.9-15

Belge Tipi:

Makale

Yayın Tarihi:

5/2020

Belge Dili:

İngilizce

Document ID (Org No.):

2000528394

Sıklık:

İki Yıllık

eISSN:

2667-484X

DOI:

https://doi.org/10.34088/kojose.677184