Upper Limb Robot Arm System Design and Kinematic Analysis
Yıl: 2020 Cilt: 7 Sayı: 3 Sayfa Aralığı: 1320 - 1331 Metin Dili: İngilizce DOI: 10.31202/ecjse.753267 İndeks Tarihi: 07-01-2021
Upper Limb Robot Arm System Design and Kinematic Analysis
Öz: In this study, a wearable upper limb robot arm design has been designed for individuals whoexperience discomfort in the arm muscle and experience power loss. The user with arm discomfort can attachthe designed system to her arm and perform daily life activities like healthy individuals. The upper limb robotarm system is designed in Solidworks program. The system is attached to the waist of the user and wraps theentire arm. The designed robot arm system is designed to be produced of 5 cm thick aluminum material. Angularservo motors are mounted from the joints to the wrists and elbows. The linear motor is mounted to the shoulderpart of the upper limb system to provide both vertical and horizontal movement. Necessary analyses were donefor the mechanism designed with the help of Solidworks software. The safety coefficients of the arm, hand, andshoulder apparatuses were calculated for a maximum load of 250 N. Later, restrictions were made for thenecessary movements and the powers and torque values of the motors to be used were calculated. Also,maximum displacements were determined by making force distributions for the arm, hand, and shoulder parts ofthe system.
Anahtar Kelime: Üst Uzuv Robot Kol Sistemi Tasarımı ve Kinematik Analizi
Öz: Bu çalışmada, kol kasında rahatsızlık hisseden ve güç kaybı yaşayan kişiler için giyilebilir bir üst ekstremite robot kol tasarlanmıştır. Kol rahatsızlığı olan kullanıcı, tasarlanan sistemi koluna bağlayabilir ve sağlıklı bireyler gibi günlük yaşam aktiviteleri gerçekleştirebilir. Üst ekstremite robot kol sistemi Solidworks programında tasarlanmıştır. Sistem kullanıcının beline bağlanıp tüm kolu saracak şekilde dizayn edilmiştir. Tasarlanan robot kol sistemi 5 cm kalınlığında alüminyum malzemeden üretilecek şekilde tasarlanmıştır. Köşeli servo motorlar eklemlerden bileklere ve dirseklere monte edilir. Doğrusal motor, hem dikey hem de yatay hareket sağlamak için üst ekstremite sisteminin omuz kısmına monte edilmiştir. Solidworks yazılımı yardımıyla tasarlanan mekanizma için gerekli analizler yapılmıştır. Kol, el ve omuz aparatlarının güvenlik katsayıları maksimum 250 N yük için hesaplanmıştır. Daha sonra gerekli hareketler için kısıtlamalar yapılmış ve kullanılacak motorların güç ve tork değerleri hesaplanmıştır. Ayrıca, sistemin kol, el ve omuz kısımları için kuvvet dağılımları yapılarak maksimum yer değiştirmeler belirlenmiştir.
Anahtar Kelime: Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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| APA | Ersin Ç, YAZ M, GOKCE H (2020). Upper Limb Robot Arm System Design and Kinematic Analysis. , 1320 - 1331. 10.31202/ecjse.753267 |
| Chicago | Ersin Çağatay,YAZ Mustafa,GOKCE Huseyin Upper Limb Robot Arm System Design and Kinematic Analysis. (2020): 1320 - 1331. 10.31202/ecjse.753267 |
| MLA | Ersin Çağatay,YAZ Mustafa,GOKCE Huseyin Upper Limb Robot Arm System Design and Kinematic Analysis. , 2020, ss.1320 - 1331. 10.31202/ecjse.753267 |
| AMA | Ersin Ç,YAZ M,GOKCE H Upper Limb Robot Arm System Design and Kinematic Analysis. . 2020; 1320 - 1331. 10.31202/ecjse.753267 |
| Vancouver | Ersin Ç,YAZ M,GOKCE H Upper Limb Robot Arm System Design and Kinematic Analysis. . 2020; 1320 - 1331. 10.31202/ecjse.753267 |
| IEEE | Ersin Ç,YAZ M,GOKCE H "Upper Limb Robot Arm System Design and Kinematic Analysis." , ss.1320 - 1331, 2020. 10.31202/ecjse.753267 |
| ISNAD | Ersin, Çağatay vd. "Upper Limb Robot Arm System Design and Kinematic Analysis". (2020), 1320-1331. https://doi.org/10.31202/ecjse.753267 |
| APA | Ersin Ç, YAZ M, GOKCE H (2020). Upper Limb Robot Arm System Design and Kinematic Analysis. El-Cezerî Journal of Science and Engineering, 7(3), 1320 - 1331. 10.31202/ecjse.753267 |
| Chicago | Ersin Çağatay,YAZ Mustafa,GOKCE Huseyin Upper Limb Robot Arm System Design and Kinematic Analysis. El-Cezerî Journal of Science and Engineering 7, no.3 (2020): 1320 - 1331. 10.31202/ecjse.753267 |
| MLA | Ersin Çağatay,YAZ Mustafa,GOKCE Huseyin Upper Limb Robot Arm System Design and Kinematic Analysis. El-Cezerî Journal of Science and Engineering, vol.7, no.3, 2020, ss.1320 - 1331. 10.31202/ecjse.753267 |
| AMA | Ersin Ç,YAZ M,GOKCE H Upper Limb Robot Arm System Design and Kinematic Analysis. El-Cezerî Journal of Science and Engineering. 2020; 7(3): 1320 - 1331. 10.31202/ecjse.753267 |
| Vancouver | Ersin Ç,YAZ M,GOKCE H Upper Limb Robot Arm System Design and Kinematic Analysis. El-Cezerî Journal of Science and Engineering. 2020; 7(3): 1320 - 1331. 10.31202/ecjse.753267 |
| IEEE | Ersin Ç,YAZ M,GOKCE H "Upper Limb Robot Arm System Design and Kinematic Analysis." El-Cezerî Journal of Science and Engineering, 7, ss.1320 - 1331, 2020. 10.31202/ecjse.753267 |
| ISNAD | Ersin, Çağatay vd. "Upper Limb Robot Arm System Design and Kinematic Analysis". El-Cezerî Journal of Science and Engineering 7/3 (2020), 1320-1331. https://doi.org/10.31202/ecjse.753267 |
