Home   >   CSC-OpenAccess Library   >    Manuscript Information
Determination of the Operational Parameters of a Planar Robot with Three Joints
Muharrem eytino?lu, Halil Unal
Pages - 69 - 78     |    Revised - 31-01-2011     |    Published - 08-02-2011
Volume - 1   Issue - 5    |    Publication Date - January / February 2011  Table of Contents
Planar robot, Orbit-planning parameter, Cartesian velocity
Robots are currently made in numerous types and are used in diverse roles such as production lines, daily living activities and some security fields. These types of robots are well designed and successfully applied in many areas requiring high sensitivity and stability. The aim of this study was to determine the optimum values of several operational parameters for a planar robot with respect to robot design and construction. With this aim, a small planar robot with a three-jointed arm activated by hydraulic cylinders in each segment was evaluated using a technical design drawing. The arm motions of the planar robot are rotary and parallel within a vertical plane. The resulting optimal operational parameters of the planar robot were determined as starting and target positions of 31.5 cm and 55 cm, respectively, on the x-axis and 17.18 cm and 118.44 cm on the y–axis. Time-position and time-velocity graphs were constructed corresponding to the orbit-planning parameters, resulting in Cartesian velocities for the terminal processor of 13.98 m/sec on the x-axis and 20.16 m/sec on the y-axis at 1.5 seconds after initiation. The maximum power consumption of the robot was determined as 1 kW according to the outer load and arm weights.
1 Google Scholar 
2 CiteSeerX 
3 Scribd 
4 SlideShare 
5 PdfSR 
A. Egrisögüt and R. Kazan, “Modelling of scara robot dynamics by using neural network” Journal of Engineer and Machine, Volume: 46 Number: 550, Ankara 2005.
A.S. Kara, “Mechanic Problems of Engineering Analyzed” Publisher of Güven, Ankara 1974. F. Yücel, “Mechanic” Publisher of Ankara Üniversity, Publisher No: 273 Course Book, No: 95, Ankara 1966.
B. Roth, “Performance evolution of manipulators from a kinematic view point” NBS, Special Publication, pp.39-61, 1975
C.C.D. Lin and F. Freudens Tein, “Optimization of the workspace of a three-link turning–pair connected robot arm” International Journal of Robotic Research, Vol.5, pp.104-111, 1986.
F. Yücel, “Mechanic” Publisher of Ankara Üniversity, Publisher No: 273 Course Book, No: 95, Ankara 1966.
N.C. Braga, “Robotic mecatronic and artificial intelligence” Publisher of Bile?im, ISBN.9752711405, ?stanbul 2005.
R.A. Kepner, R. Bainer and E.I. Barger, “Principles of Farm Machinery” Third Edition Avi Publishing Company, Inc. Westport, Connecticut, 1980.
S. Kücük and Z. Bingül, “Workspace optimization of fundamental robot manipulators” IEEE 12th Mediterranean Conference on Control and Automation, Ku?adas?, TURKEY.2004.
S. Timoshenko and D.H. Young, “Engineering Mechanic” Publisher of Civil Engineering Faculty of ?TÜ. ?stanbul 1975.
Y.C. Tsa, and A.H. Soni, “Accessible region and synthesis of robot arms” ASME I., Mechanical Design, Pp.803-811, 1981.
Z. Bingül and S. Kücük, “Technique of robot I” Birsen Publisher, Code No: Y.0029, ?stanbul 2005.
Dr. Muharrem eytino?lu
- Turkey
Dr. Halil Unal
- Turkey