Scara tipi robot kolunun hareketlerinin bilgisayar destekli programlarla kontrolü


Thesis Type: Postgraduate

Institution Of The Thesis: Cukurova University, Fen Bilimleri Enstitüsü, Makina Mühendisliği, Turkey

Approval Date: 1997

Thesis Language: Turkish

Student: MUSTAFA ERTÜRK

Consultant: Necdet Geren

Abstract:

 In this study, by examining the SCARA type SERPENT I robot arm, some supporting data generation computer programs were developed in order that this point to point uncoordinated moved robot is forced to track planned trajectories. The computer programs prepared in TURBO PASCAL 6.0 generate robot data by using trajectory plans prepared in AUTOCAD R12. As a result, robot can track planned trajectory. Normally, WALLI 2.5 control program of SERPENT I robot arm is designed for pick and place tasks. However, prepared data generation computer programs supporting WALLI 2.5 allow the robot to perform tasks like spot welding and easy assembly.