Endüstriyel robotların bilgisayar yardımıyla hareket denklemlerinin elde edilmesi ve simülasyonu

Abstract

V ABSTRACT Industrial robots, thanks to their special characteristics, have been vvidely used in industry for thirty years, especially on serial production lines and those sectors having harmfull effects to human health. Therefore, the production of industrial robots have gained great importance, too. in order to take maximum performance from robots with respect to financial and manifactural aspects, they must provide best quality in relation with their construction, control and performance capabilities. Therefore, before the production, a robot must be perfectly analized in respect of construction, kinematics, dynamics and control. And to anaiyse these aspects, it needs to build up the mathematical model of the robot. in this study , it is tried to build up the mathematical model of the robot by the aid of a computer, beside this the possible motions of the robot is tried to be simulated. For the dynamic analysis, only the Lagrange - Euler Formulation is taken into consideration. The first chapter gives a general information on robots ; the second and third chapters cover the kinematics and dynamics of the robots , respectively. The fourth chapter focuses on the computer program, vvhich is the main subject of the study. Finally, a brief evaluation is made in the last chapter.