Üç Döner Mafsallı Düzlemsel Manipülatörün (3RM) Parametrik Pozisyon Denklemlerini Kullanarak Bir Dört Çubuk Mekanizmasının Parametrik Pozisyon Denklemlerinin Elde Edilmesi

Bir dört çubuk mekanizmasında, kol uzvu sabit bir açısal hız ile dönerken, diğer iki uzuv sürekli değişen açısal hızlara sahiptir. Bir 3RM mekanizması, dört çubuk mekanizmasına dönüştürülmek istenirse, biyel uzvunun her iki ucundaki döner aktuatörlerin değişken açısal hızlarının doğru olarak belirlenmesini gerekir. 3RM’nin kartezyen koordinatlarını veren genel parametrik denklem seti serbestlik derecesi sınırlanarak dört çubuk mekanizması için kullanılabilecek şekilde düzenlenebilir. Bu durumda kol uzvu sabit bir açısal hız ile dönerken, biyel uzvunun her iki ucundaki aktuatörlerin açısal hızları belirlenmelidir. Aktüatörlerin açısal hızları, geometrik parametreleri kol-sarkaç çalışmasına göre seçilen bir dört çubuk mekanizması için WorkingModel2D (WM2D) "dinamik hareket simülasyon yazılımı" kullanılarak elde edilmiştir. Açısal hız verileri kullanılarak, biyel uzvuna bağlı döner aktuatörlerin açısal hızlarını ifade eden polinomlardaki bilinmeyen katsayılar Mathematica yazılımı kullanılarak bulunmuştur. WM2D’den elde edilen yörünge ve açısal hız verileri, yörünge ve açısal hız denklemlerinin sonuçları karşılaştırılmış ve elde edilen sonuçların kabul edilebilir seviyelerde olduğu bulunmuştur.

OBTAINING THE PARAMETRIC POSITION EQUATIONS OF A FOUR-BAR MECHANISM USING THE PARAMETRIC POSITION EQUATIONS OF THE PLANAR MANIPULATOR WITH 3 REVOLUTE JOINTS (3RM)

In a four-bar mechanism, the crank link rotates at a constant angular velocity, while the othertwo links have constantly changing angular velocities. If it is desired to convert a 3RM into a four-barmechanism, the variable angular velocities of the rotary actuators at both ends of the coupler link shouldbe accurate. The general parametric set of equations that give the cartesian coordinates of 3RM can bearranged so that they can be used for the four-bar mechanism by limiting the degree of freedom. In thiscase, the angular velocities of the actuators on both ends of the coupler link should be determined whilethe crank link rotates at a constant angular speed. Angular velocities of actuators have been obtained usingthe WorkingModel2D (WM2D) "dynamic motion-simulation software" for a four-bar mechanism, whosegeometric parameters have been selected as the crank-rocker. Using the angular velocity data, unknowncoefficients in polynomials expressing the angular velocities of the rotary actuators connected to thecoupler link have been found using Mathematica software. The trajectory and angular velocity data havebeen obtained from WM2D, the results of trajectory and angular velocity equations have been comparedand the results have been at acceptable levels.

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