2010

Prototip olarak Tasarlanan Lineer Delta Robotun Doğruluk ve Tekrarlanabilirlik Performansı

Paralel kinematik mekanizmalar ailesinden olan lineer delta robot, 3 adet lineer aktüatör ile hareket ettirilen, birsabit ve bir hareketli platformdan oluşan bir robottur. Bu çalışmada, lineer delta robotun prototipi yapılarakdoğruluk ve tekrarlanabilirlik performansı gerçekleştirilmiştir. Lineer delta robot için deney tasarımı düzeneğikurulmuş ve ISO 9283 standardına göre ortalama doğruluk ve tekrarlanabilirlik parametreleri Microscribe G2Xkoordinat ölçme cihazı kullanılarak robotun performansı bulunmuştur. Yapılan testlerde robotun ortalamadoğruluğu 1,25 mm ve ortalama tekrarlanabilirliği ise 1,45 mm bulunmaktadır. Sonuç olarak yapılan testler açıkçevrim kontrol metoduyla yapıldığı için literatürdeki çalışmalara benzerlik göstermektedir.

Accuracy and Repeatability Performance of Prototype Linear Delta Robot

The linear delta robot, which is a family of parallel kinematic mechanisms, is a robot consisting of a fixed and a moving platform, driven by 3 linear actuators. In this study, accuracy and repeatability performance of linear delta robot was performed. Experimental design for linear delta robots was established and average accuracy and repeatability parameters according to ISO 9283 standard were found to be robot's performance by using Microscribe G2X coordinate measuring device. In the tests, the average accuracy of the robot is 1.25 mm and the average repeatability is 1.45 mm. As a result, the tests are similar to those in the literature because they are performed by open loop control method.

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