DÖRT BACAKLI KEŞİF ROBOTUNUN PROTOTİP TASARIMI VE ÜÇ BOYUTLU (3B) YAZICI İLE İMALATI

Dört bacaklı robotlar, çeviklik, dengeli hareket ve farklı zorlu arazi şartlarına uyum sağlama yetenekleri nedeni ile keşif, arama kurtarma, tarım, inşaat ve askeri alanlarda büyük ilgi görmektedir. Ayaklı robotlara her alandan uzmanın ilgisi artarken, araştırmacılar uygun maliyetli ve yüksek manevra yetenekli robotlar geliştirmek adına çalışmalarını sürdürmektedirler. Bu çalışma, dört bacaklı bir 12 serbestlik dereceli bir robotun tasarımı, 3 boyutlu yazıcıda üretilmesi ve ileri kinematik analizine ait detaylar sunulmuştur. Robotun üç boyutlu modeli SolidWorks programında modellenmiş ve sonrasında parça modelleri 3 boyutlu baskı teknolojisi kullanılarak PLA malzemeden imal edilmiştir. Robotun her bir bacağı üç serbestlik dereceli olup, aktuatör olarak DC servo motorlar kullanılmıştır. Robotun denge ve yörünge kontrol yazılımları Arduino Mega gömülü sistem kartı üzerinde geliştirilmiştir. Robot uzaktan kumanda edilmektedir ve üzerinde yer alan RGB kamera sayesinde çevresel algılama da yapabilmektedir. Bu çalışmanın, düşük bütçeli ve kolayca imal edilebilir dört ayaklı bir robota ihtiyaç duyan araştırmacılara yol göstermesi açısından akademik çalışmalara katkıda bulunması hedeflenmiştir.

Anahtar Kelimeler:

Dört Bacaklı Robot, Robot Kinematiği, Üç Boyutlu (3B) Yazıcı, Keşif Robotu

PROTOTYPE DESIGN AND MANUFACTURING OF A FOUR-LEGED EXPLORATION ROBOT WITH A THREE-DIMENSIONAL (3D) PRINTER

Four-legged robots have gained significant interest in fields such as exploration, search and rescue, agriculture, construction, and the military due to their agility, balanced movement, and adaptability to various challenging terrains. As person from different domains show increasing interest in legged robots, researchers continue their efforts to develop cost-effective and highly maneuverable robotic systems. This study presents the details of the design, 3D printing, and advanced kinematic analysis of a twelve-degree-of-freedom quadruped robot. The three-dimensional model of the robot was created using the SolidWorks program, and its component parts were 3D printed using PLA material. Each leg of the robot has three degrees of freedom, utilizing DC servo motors as actuators. The robot's balance and trajectory control software were developed on an Arduino Mega embedded system board. The robot can be controlled remotely and is equipped with an RGB camera for environmental perception. The aim of this study is to contribute to academic research by providing guidance to researchers in need of a low-budget and easily manufacturable four-legged robot.

Keywords:

Quadruped Robot, Robot Kinematics, 3D Printer, Exploration Robot,

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