AÇIK KAYNAK MEDİKAL YARDIMCI ROBOT KOLUN PYTHON İLE İLERİ KİNEMATİK ANALİZİ

Günümüzde Covid-19 gibi pandemik hastalıkların tüm dünyayı hızla etkilemesi ve buna bağlı tüm dünyada yüzbinlerce kişinin hayatına mal olmuşken sağlık çalışanlarının dünya genelindeki özverili çalışmalarının önemi ortaya çıkmıştır. Çalışmada, sağlık çalışanlarının iş yükünün paylaşılması için süreç içerisinde destek elemanları olarak medikal yardımcı makineler üzerine inceleme yapılmıştır. Geliştirilen medikal yardımcı robotik kol, sağlık çalışanlarının iş yükünün paylaşılması açısından özellikle pandemi sürecinde son derece önem arz etmektedir. Geliştirilen robot kol açık kaynak ve de eklemlerinin model baz alınarak uyarlanabilir olması son derece önemli bir özelliktir. Robot kolun açık kaynak olması oluşabilecek telif haklarından kaynaklı sorunlarında giderilmesi açısından son derece önemlidir. Robot kol profesyonel özellikte endüstriyel boyutlarda kullanıma uygun özelliklere sahiptir. Çalışmada kullanılan robot kol 3D yazıcıdan basılmış ve robot kol 5 serbestlik derecesine (5 DoF) sahip mafsallı robot koldur. 3D yazıcıdan basılabilir olması bu tür profesyonel robot kollar açısından maliyet olarak ciddi tasarruf sağlamaktadır. Robot kolun çalışma uzayının belirlenmesi ve ayrıca kontrolü açısından kinematik analiz önemlidir. Bu makalede, çalışma uzayının belirlenmesi, erişebilir noktalarının tespiti için ileri kinematik analizi derin öğrenme ile yapıldı.

Anahtar Kelimeler:

Açık Kaynak Robot Kol, Python, İleri Kinematik Analiz

Forward Kinematic Analysis of Open Source Medical Assistant Robot Arm with Python

Today, pandemic diseases like Covid-19 affect the entire world rapidly, and due to this, the significance of the devoted work of healthcare professionals worldwide has emerged while it has cost the lives of a huge number of individuals around the world. In the study, so as to share workload of healthcare professionals, in the process, medical assistant machines were analyzed as support staff. The developed medical assistant robotic arm is extremely important especially within the pandemic process in terms of sharing burden of healthcare professionals. It is an extremely important feature that the developed robot arm is open source and its joints can be adjusted based on the model. The fact that the robot arm is open source is extremely important in terms of the issues that may emerge from copyrights. The robot arm has features appropriate for use in industrial dimensions with professional features. The robot arm utilized in the study is printed with a 3D printer and also the robot arm is articulated with 5 degrees of freedom (5 DoF). The fact that it can be printed from a 3D printer provides significant cost savings for such professional robot arms. Kinematic analysis is significant regarding determining and controlling the working space of the robot arm. In this study, forward kinematic analysis was done with deep learning for determination of working space and accessible points.

Keywords:

Open-Source Robot Arm, Python, Forward Kinematic Analysis,

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