Abstract
Bu çalışmanın temel amacı, manyetik pozisyon sensörlü bir enkoderin oluşturulması ve bunun 3 eksenli bir SCARA robotuna entegre edilmesidir. Geliştirilen pozisyon enkoderi, 12-bit çözünürlüğe sahiptir. Enkoder; motor adım çözünürlüğü, sensör-enkoder mesafesi, sürücü sıcaklığı ve yazılım değişken tipleri gibi farklı sistem parametreleri altında deneysel yollarla analiz edilmiştir. Enkoder, motor mili üzerine yerleştirilen mıknatısları algılayarak konum bilgisini elde etmektedir. Elde edilen veriler, farklı motor hızlarında ve çözünürlüklerde analiz edilerek doğruluğu değerlendirilmektedir. Çalışma kapsamında, step motor performansı üzerinde sürücü sıcaklığının etkisi incelenmiştir. Ardından, motor mili üzerine yerleştirilen mıknatıs ve sensör arasındaki mesafe değişiminin konum hataları üzerindeki etkisi değerlendirilmiştir. Ayrıca, yazılım algoritmasının doğruluğu da test edilerek algoritmadan kaynaklanabilecek olası sorunlar incelenmiştir. Yapılan deneyler, manyetik konum sensörlerinin hassas konumlandırma için robotik uygulamalarda potansiyel olarak kullanılabileceğini göstermiştir. Ancak, elde edilen sonuçlar, bu enkoderlerin dış etkenlerden etkilenebileceğini ortaya koymuştur. Bu nedenle, sistem tasarımı aşamasında enkoder parametrelerinin, konumu ve hassasiyeti gibi faktörlerin dikkate alınması gerektiği sonucuna varılmıştır.
References
- 1. Chang, Y.-H., Liang, C.-H., & Lan, C.-C., “An end-effector wrist module for the kinematically redundant”, Mechanism and Machine Theory, Vol. 156, Issue 104064, Pages 1-3, 2021.
- 2. Asada, H., Hosoda, K., & Hanafusa, H. “Robot Analysis: The Mechanics of Serial and Parallel Manipulators”, Wiley, New York, 1986.
- 3. Nakamura, Y., Hanafusa, H., Inoue, H., & Asada, H., “Handbook of Robotics”, Pages 869-891, Springer, Berlin, 2007.
- 4. Lee, K. M., Choi, J., & Bang, Y. B., Shaft position measurement using dual absolute encoders. Sensors and Actuators A: Physical, Vol. 238, Pages 276-281, 2016.
- 5. Hao, S., Liu, Y., & Hao, M., “Study on a novel absolute magnetic encoder”, IEEE International Conference on Robotics and Biomimetics, Pages 1773-1776, IEEE, 2009.
- 6. Yonnet, J., Foggia, A., & Adenot, S., “A differential magnetic position sensor”, Sensors and Actuators, Vol. 81, Issues 1-3, Pages 340-342, 2000.
- 7. Movahedi, H., Zemouche, A., & Rajamani, R., “Magnetic position estimation using optimal sensor placement and nonlinear observer for smart actuators”, Control Engineering Practice, Vol. 112, Issue 104817, 2021.
- 8. Zubiri Carrizosa, A., “Fabrication and modelling of a robot arm”, Master's thesis, Universitat Politècnica de Catalunya, Barcelona, 2020.
- 9. Yang, B., & Yang, W. Modular approach to kinematic reliability analysis of industrial robots. Reliability Engineering & System Safety, Vol. 229, Issue 108841, 2023.
- 10. Ghasemi, M. H., Korayem, A. H., Nekoo, S. R., & Korayem, M. H., “Improvement of position measurement for 6R robot using magnetic encoder AS5045”, Journal of Computational & Applied Research in Mechanical Engineering (JCARME), Vol. 6, Issue 1, Pages 11-20, 2016.
- 11. Ni, F., Jin, M., Wang, H., Liu, H., & Hirzinger, G. Joint Fault-Tolerant Design of the Chinese Space Robotic Arm. IEEE International Conference on Information Acquisition, August 20-23, Veihai, Pages 528-533, 2006.
- 12. Tomaszuk, P., Łukowska, A., Rećko, M., & Dzicrzck, K., Integrated drive system of robotic arm joint used in a mobile robot. 23rd International Conference on Methods & Models in Automation & Robotics, August 27-30, Miedzyzdroje, Pages 509-514, 2018.
Abstract
The main aim of this study is to create an encoder equiped with magnetic position sensor and integrate it into a 3-axis SCARA robot. The developed position encoder has a resolution of 12 bits. The encoder has been analyzed experimentally under different system parameters such as motor step resolution, sensor-encoder distance, driver temperature, and software variable types. The encoder obtains position information by detecting magnets placed on the motor shaft. The accuracy of the obtained data is analyzed at different motor speeds and resolutions. Within the scope of this study, the effect of driver temperature on the performance of the stepper motor has been investigated. Subsequently, the position error impact of changes in the distance between the sensor and the magnet placed on the motor shaft has been evaluated. Additionally, the accuracy of the software algorithm has been tested, and possible issues arising from the algorithm have been examined. The conducted experiments have shown that magnetic position sensors have the potential to be used for precise positioning in robotic applications. However, the obtained results have revealed that these encoders can be affected by external factors. Therefore, it has been concluded that encoder parameters, such as position and accuracy, should be taken into consideration during the system design phase.
References
- 1. Chang, Y.-H., Liang, C.-H., & Lan, C.-C., “An end-effector wrist module for the kinematically redundant”, Mechanism and Machine Theory, Vol. 156, Issue 104064, Pages 1-3, 2021.
- 2. Asada, H., Hosoda, K., & Hanafusa, H. “Robot Analysis: The Mechanics of Serial and Parallel Manipulators”, Wiley, New York, 1986.
- 3. Nakamura, Y., Hanafusa, H., Inoue, H., & Asada, H., “Handbook of Robotics”, Pages 869-891, Springer, Berlin, 2007.
- 4. Lee, K. M., Choi, J., & Bang, Y. B., Shaft position measurement using dual absolute encoders. Sensors and Actuators A: Physical, Vol. 238, Pages 276-281, 2016.
- 5. Hao, S., Liu, Y., & Hao, M., “Study on a novel absolute magnetic encoder”, IEEE International Conference on Robotics and Biomimetics, Pages 1773-1776, IEEE, 2009.
- 6. Yonnet, J., Foggia, A., & Adenot, S., “A differential magnetic position sensor”, Sensors and Actuators, Vol. 81, Issues 1-3, Pages 340-342, 2000.
- 7. Movahedi, H., Zemouche, A., & Rajamani, R., “Magnetic position estimation using optimal sensor placement and nonlinear observer for smart actuators”, Control Engineering Practice, Vol. 112, Issue 104817, 2021.
- 8. Zubiri Carrizosa, A., “Fabrication and modelling of a robot arm”, Master's thesis, Universitat Politècnica de Catalunya, Barcelona, 2020.
- 9. Yang, B., & Yang, W. Modular approach to kinematic reliability analysis of industrial robots. Reliability Engineering & System Safety, Vol. 229, Issue 108841, 2023.
- 10. Ghasemi, M. H., Korayem, A. H., Nekoo, S. R., & Korayem, M. H., “Improvement of position measurement for 6R robot using magnetic encoder AS5045”, Journal of Computational & Applied Research in Mechanical Engineering (JCARME), Vol. 6, Issue 1, Pages 11-20, 2016.
- 11. Ni, F., Jin, M., Wang, H., Liu, H., & Hirzinger, G. Joint Fault-Tolerant Design of the Chinese Space Robotic Arm. IEEE International Conference on Information Acquisition, August 20-23, Veihai, Pages 528-533, 2006.
- 12. Tomaszuk, P., Łukowska, A., Rećko, M., & Dzicrzck, K., Integrated drive system of robotic arm joint used in a mobile robot. 23rd International Conference on Methods & Models in Automation & Robotics, August 27-30, Miedzyzdroje, Pages 509-514, 2018.
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Engineering |
| Journal Section | Research Article |
| Authors | |
| Early Pub Date | December 25, 2023 |
| Publication Date | December 31, 2023 |
| Submission Date | June 1, 2023 |
| Published in Issue | Year 2023 Volume: 7 Issue: 3 |
Cite
International Journal of 3D Printing Technologies and Digital Industry is lisenced under Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı