Asimetrik üç serbestlik dereceli bir düzlemsel paralel robot mekanizmasının kinematik analizi

Bu çalışmada üç Serbestlik Derecesine (SD) sahip bir düzlemsel paralel robot mekanizmasının kinematik analizi gerçekleştirilmiştir. Seçilen mekanizmanın diğer düzlemsel mekanizmalardan farkı asimetrik bacak yapısına sahip olmasıdır. Asimetrik yapıyı elde etmek için 3-RPR (R:Dönel eklem, P: Aktif prizmatik eklem) yapısındaki simetrik bir düzlemsel robot mekanizmasının bir bacağı RRR (R: Aktif dönel eklem) tipi bacak ile değiştirilmiş ve bu sayede RPR2RRR1 adını verdiğimiz asimetrik düzlemsel paralel robot mekanizması elde edilmiştir. Bu mekanizma için ters kinematik, Jacobian matrisi ve tekil noktalardan bağımsız çalışma uzayı analizi ile ilgili hesaplamalar gerçekleştirilmiştir. Ayrıca bu mekanizmanın performansı simetrik düzlemsel bir paralel robot mekanizması olan 3-RPR mekanizması ile karşılaştırılmıştır. Elde edilen sonuçlara göre önerilen mekanizmanın çalışma uzayının hem uç işlevci tarafından ulaşılabilinen nokta sayısı hem de yönelim açısının sınır değerleri yönünden 3-RPR mekanizmasından daha iyi olduğu gösterilmiştir.

Anahtar Kelimeler:

Düzlemsel paralel robot mekanizmaları, 3 DOF, kinematik analiz, Çalışma uzayı analizi

Kinematic analysis of a 3-DOF asymmetrical planar parallel robot mechanism

In this study, kinematic analysis of a planar parallel robot mechanism with three degrees of freedom (DOF) was performed. The difference of the selected mechanism from the other planar mechanisms is that it has an asymmetric leg structure. In order to provide the asymmetry, a leg of 3-RPR (R: Revolute joint, P: Active prismatic joint) symmetrical planar robot mechanism was replaced by a RRR (R: Active revolute joint) type leg and the asymmetrical planar parallel robot named RPR2RRR1 mechanism has been obtained. Inverse kinematics, Jacobian matrix and singularity free workspace analysis were performed for the proposed mechanism. In addition, the performance of this mechanism is compared with the 3-RPR mechanism, which is a symmetric planar parallel robot mechanism. According to the obtained results, it has been shown that the workspace of the proposed mechanism is better than the 3-RPR mechanism in terms of both the number of points that can be reached by the end-effector and the limit values of the orientation angle.

Keywords:

planar parallel robot mechanisms, 3 DOF, kinematic analysis, workspace analysis,

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