MAKAS-MAFSAL MEKANİZMA TEKNİĞİ KULLANILARAK İKİ SERBESTLİK DERECELİ KABLOLU RADYAL MAKAS SİSTEMİ TASARIMI VE EKLEMELİ İMALAT YÖNTEMİ İLE ÜRETİMİ

İki veya daha yüksek serbestlik dereceli makas-mafsal mekanizmaları başta endüstriyel robotlar olmak üzere birçok makinada aktif olarak kullanılmaktadır. Günümüzde teknolojik gelişmelerde estetik ve verimlilik için yeni tasarımlar denenmektedir. Makas-mafsal mekanizmalarında kuvvet iletimi çoğunlukla piston, kablo ve yay sistemleriyle gerçekleştirilmektedir. Bu çalışmada, radyal hareket kabiliyetine sahip katlanabilir makas mekanizma tasarımı gerçekleştirilmiştir. Kablo ile içbükey veya dış bükey şekillere dönüştürülebilen iki serbestlik dereceli açılı makas mekanizmasının üretilmesi hedeflenmiştir. Geliştirilen mekanizma tasarımının topolojik optimizasyonu Autodesk Fusion 360 tasarım programı kullanılarak yapılmıştır. Tasarlanan modelin üretimi eklemeli üretim yöntemi ile 3B yazıcı kullanılarak elde edilmiştir. Üretilen nihai parçalar cıvatalar yardımıyla entegre edilerek makas mekanizması elde edilmiştir. İmalattan sonra mekanizmada ortaya çıkan mekanik sistem kaynaklı sorunlar tasarım üzerinde iyileştirmeler yapılarak çözülmüştür. Üretilen iki farklı prototip üzerinde karşılaştırmalar yapılmıştır. Ayrıca, elde edilen sistemin analitik çözümü deneysel sonuçlarla karşılaştırılmıştır.

Anahtar Kelimeler:

Eklemeli İmalat, Radyal Makas Mekanizması, Makas-mafsal mekanizması, Anti-paralelkenar

DESIGN AND ADDITIVE MANUFACTURING OF TWO-DEGREE OF FREEDOM WIRED RADIAL SCISSOR SYSTEM USING SCISSOR-JOINT MECHANISM

Scissor-joint mechanisms with two or higher degrees of freedom are actively used in many machines, especially industrial robots. Novel designs are being tried for aesthetics and efficiency in technological developments. In scissor-joint mechanisms, force transmission is mostly carried out by piston, cable and spring systems. In this study, foldable scissor mechanism design with radial motion was built. It is aimed to produce scissor mechanisms with two degrees of freedom that can be converted into concave or convex shapes via cables. The topological optimization of the mechanism design was done using the Autodesk Fusion 360 design program. The production of the designed model was achieved using the additive manufacturing technology. The final scissor mechanism was obtained by integrating the produced parts. Mechanical system related problems arising in the mechanism after manufacturing were solved by making revisions on the design. Comparisons were made on two different prototypes produced. Additionally, the analytical solution of the obtained system is compared with the experimental results.

Keywords:

Radial Scissor Mechanism, Additive Manufacturing, Scissors-joint mechanism, Anti-parallelogram,

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