Batman Universitesi Yasam Bilimleri Dergisi
www.yasambilimleridergisi.com
Cilt 7, Sayı 1/2 (Fen Bilimleri)  Ocak - Haziran 2017  (ISSN: 2147-4877, E-ISSN: 2459-0614)
Savaş KOÇ / Cengiz DOĞAN

NO Makale Adı
1479908057 Bearing Ball Screw Driven 5 Axis Robot Arm Design and It is Controlled with Mach3 Breakboard Card

Utilization of robot in manufactoring , by reducing labor and material expenses and providing Standard in manufactoring, increases the quality. Escalation in products can be achieved with automation, swift and flexible production. Today, in the existing robot applications for moving manipulators servo motors with reductors are being used. In the design, instead of reductors ball screws which provide motion with roller driving-tracting power have been used. This design will provide some facilities, this system will be more economic comparasion to the existing ones and it will reduce effect of moments of inertia sourcing from movements of robot sections being used. Mach3 breakboard card is used so that the robot arm can be controlled by computer. With axis values received from breakboard card, calculations which will transform arm length to angular values in the Matlab/Gui interface are done. Using this angles and arm lengths, forward and inverse kinematics calculations are performed. Trajectory which provides movement of arm from one point to another one is determined. Using the values which are for arm’s movemement in the trajectory, G Codes are written and they are operated in Mach3 Program
Anahtar Kelimeler: Robot Design, BallScrew, KinematicCalculations, Mach3 BreakboardCard