Design and construction of a robotic manipulator with six revolute joints

---

Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Fen Bilimleri Enstitüsü, Türkiye

Tezin Onay Tarihi: 1989

Tezin Dili: İngilizce

Öğrenci: İLHAN BAŞÇUHADAR

Danışman: MUSTAFA KEMAL ÖZGÖREN

Özet:

DESIGN AND CONSTRUCTION OF A ROBOTIC MANIPULATOR WITH SIX REVOLUTE JOINTS Başçuhadar, İlhan Faculty of Arts and Sciences Mechanical Engineering Departments M.S. Thesis Supervisor: ProlDr. M. Kemal Ozgören 188 Pages, February 1989 ABSTRACT As the objective of this thesis, a manipulator with six revolute joints has been designed and constructed. Through a comparative study on various physical configurations used for manipulators, the PUMA type has been found to be the most dexterous and general-purpose one. So, the design has been based on this configuration. As the actuators, permanent magnet D.C. servo motors have been used with planetary gear reduction units. Optical incremental encoders have been used to feedback the position information of the joints to the controlling system. The elementary parts of the links have been designed on a solid modelling software called "I-DEAS Geomod". These parts have then been assembled to form the links by means of the same software. This way, the masses, the moments of inertia, and the mass centers of the links have been determined. A computer program has been developed for the purpose of inverse dynamics computation according to the Recursive Newton-Euler Formulation. Using this program, the maximum joint torques have been calculated assuming a state of motion with the maximum speeds and accelerations. This way, the electric motors have been properly selected. Keywords: Robotics, PUMA manipulator, inverse dynamics analysis, construction of a manipulator. -m-