Endüstriyel bir robotun farklı tahriklerde oluşan titreşimlerin ölçülmesi ve karşılaştırılması
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Tarih
2021-08-01
Yazarlar
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Yayıncı
Batman Üniversitesi Lisansüstü Eğitim Enstitüsü
Erişim Hakkı
info:eu-repo/semantics/openAccess
Attribution-ShareAlike 3.0 United States
Attribution-ShareAlike 3.0 United States
Özet
Bu çalışmada, katı modellemesi tasarlanmış üç serbestlik derecesine sahip bir endüstriyel robot koldan iki katı modelleme oluşturularak (tahrikler kayış kasnağı yardımıyla iletilen model ve tahrikler vidalı mil yardımıyla iletilen model) farklı bölgelerden tahrik verilmiştir. Bu modeller Ansys workbench arayüzü yardımıyla her model için ayrı ayrı rijit dinamik analiz (hareket analizi) gerçekleştirilmiştir. Bu modal analize bağlı olarak her iki modelleme için zorlanmış harmonik analiz yapılmıştır. Harmonik analizde, her iki yöntem için bir adet modal analiz uygulanmıştır. Bu iki modelleme için toplam olarak beş ayrı analiz incelenmesi gerçekleştirilmiştir. Rijit dinamik analizinde, robot kolun hareketi esnasında motorlar üzerine gelen kuvvetler ve ivme değerleri elde edilerek iki ayrı modelin verileri kıyaslanmıştır. Rijit dinamik analizi ile iki model üzerinde güç tasarrufu konusu incelenmiştir. Modal analizde sistemin ilk 6 modunda deformasyon safhaları elde edilerek oluşan frekans değerlerine göre sistemin deformasyon genlikleri, doğal frekanslara bağlı serbest titreşim oranları ve yapının en küçük doğal frekansı elde edilmiştir. Her iki modelleme için ayrı ayrı gerçekleştirilen zorlanmış harmonik analizlerde ise farklı dış kuvvetlere maruz bırakılan sistemin rezonans durumu incelenerek belli kritik frekanslardaki genliğe bağlı deformasyon ile stress değerleri elde edilmiştir. İki modelin eşit şartlarda ve hareket analizinde oluşan yükler altında kol ucunda meydana gelecek titreşim oranlarını karşılaştırılmıştır. Böylece malzeme yapısı, serbestlik derecesi, kol ağırlıkları ve benzer tüm şartları eşit olan, sadece tahrik noktaları bakımından farklı olan iki robot kol modeli üzerinde oluşan titreşim, deformasyon ve stress oranları araştırılmış ve bu oranların sistem üzerindeki etkileri kıyaslandırılmış ve yorumlanmıştır.
In this study, two solid models were created from an industrial robot arm with three degrees of freedom designed to be solid modeled (the model with the drives transmitted with the help of belt pulley and the model with the drive with the help of a screw shaft) from different regions. Rigid dynamic analysis (motion analysis) for each model was performed separately for these models with the help of Ansys workbench interface. Based on this modal analysis, forced harmonic analysis was performed for both models. In harmonic analysis, one modal analysis was applied for both methods. For these two models, a total of five different analyzes were carried out. In the rigid dynamic analysis, the forces and acceleration values on the motors during the movement of the robot arm were obtained and the data of two different models were compared. The issue of power saving on two models with rigid dynamic analysis is examined. In the modal analysis, deformation phases were obtained in the first 6 modes of the system and the deformation amplitudes of the system, free vibration ratios depending on natural frequencies and the smallest natural frequency of the structure were obtained according to the frequency values. In the forced harmonic analyzes performed separately for both models, the resonance state of the system exposed to different external forces was examined and stress values were obtained with the amplitude-dependent deformation at certain critical frequencies. The vibration rates of the two models under equal conditions and under the loads occurring in the motion analysis were compared. Thus, the vibration, deformation and stress rates on two robot arm models, which have the same material structure, degrees of freedom, arm weights and all similar conditions, but differ only in terms of drive points, were investigated and the effects of these rates on the system were compared and interpreted.
In this study, two solid models were created from an industrial robot arm with three degrees of freedom designed to be solid modeled (the model with the drives transmitted with the help of belt pulley and the model with the drive with the help of a screw shaft) from different regions. Rigid dynamic analysis (motion analysis) for each model was performed separately for these models with the help of Ansys workbench interface. Based on this modal analysis, forced harmonic analysis was performed for both models. In harmonic analysis, one modal analysis was applied for both methods. For these two models, a total of five different analyzes were carried out. In the rigid dynamic analysis, the forces and acceleration values on the motors during the movement of the robot arm were obtained and the data of two different models were compared. The issue of power saving on two models with rigid dynamic analysis is examined. In the modal analysis, deformation phases were obtained in the first 6 modes of the system and the deformation amplitudes of the system, free vibration ratios depending on natural frequencies and the smallest natural frequency of the structure were obtained according to the frequency values. In the forced harmonic analyzes performed separately for both models, the resonance state of the system exposed to different external forces was examined and stress values were obtained with the amplitude-dependent deformation at certain critical frequencies. The vibration rates of the two models under equal conditions and under the loads occurring in the motion analysis were compared. Thus, the vibration, deformation and stress rates on two robot arm models, which have the same material structure, degrees of freedom, arm weights and all similar conditions, but differ only in terms of drive points, were investigated and the effects of these rates on the system were compared and interpreted.
Açıklama
Anahtar Kelimeler
Aktüatör, Endüstriyel Robot Kol, Hareket Analizi, Titreşim Analizi ve Vidalı Mil, Actuator, Ball Screw, Industrial Robot Arm, Motion Analysis and Vibration Analysis
Kaynak
WoS Q Değeri
Scopus Q Değeri
Cilt
Sayı
Künye
Şani, İ (2021). Endüstriyel bir robotun farklı tahriklerde oluşan titreşimlerin ölçülmesi ve karşılaştırılması. (Yayınlanmamış Yüksek Lisans Tezi). Batman Üniversitesi Lisansüstü Eğitim Enstitüsü, Batman.
