Cartesian Robot Design Through Vectoral Drawing and Its Programming
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2008
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Bu çalışmada, adım motorlarının kombinasyonlu bir şekilde, kalemi X,Y,Z eksenlerinde hareket ettirerek, bilgisayar ile çizilen vektörel grafiklerin, kağıt üzerine çizilmesini sağlayan, kartezyen robotun mekanik konstrüksiyonunun tasarımı, incelenmesi ve programlanması amaçlanmıştır.Çalışma, üç ana konuda incelenmiş ve dizayn edilmiştir. Birinci konu, X,Y,Z eksenlerinde doğrusal hareket yapan çizim robotunun konstrüksiyonunun tasarımı ve tasarımda kullanılan adım motorlarının incelenmesidir. İkinci konu, bilgisayardan gelen veriler ile robotta kullanılan motorları çalıştıracak olan elektronik kontrol kartın tasarımıdır. Üçüncü konu, vektörel çizim yapan ve adım motorlarının kontrolünü sağlayan programın tasarlanmasıdır.Mekanik tasarımda, hybrid unipolar adım motorları, kayışlar, kasnaklar, çelik yataklama milleri ve sınır anahtarları kullanılmıştır. Çizim ve kontrol programı Delphi 7 programlama dili ile yazılmıştır. Program ve robot ile A4 kâğıdına çizgi, dikdörtgen, kare, daire, elips, yay, çokgen çizilebilmektedir. Bilgisayar ile elektronik kontrol kartın adaptasyonunda, paralel port kullanılmıştır.
In this study the design of a mechanic construction analysis and programming of a cartesian robot facilitating the vectoral drawing on the paper in the computer environment through moving the pen on X, Y, Z axis with a combination of step motors has been aimed.The study was conducted under three main categories, and the due designs have been made. In the first stage, step motors were analyzed in order to be designed through a draw robotic construction having the capability of vertical movement on X, Y ,Z axis; in the second stage, the design of on electronic control card to be able to run the motors to be used in the robot and the data coming from the computer was made. The third stage, the design of a program capable of making vectoral drawing and the control of step motors will be made.In the mechanic construction, hybrid unipolar step motors, belts, pulleys, steal embedded axles and border switches were used. The drawing and control programmers were written in Delphi 7 software. Through the programmed and robot, lines, rectangles, squares, circles, ellipses, bows, polygons can be drawn on A4 paper. In the adaptation of the electronic control card with the computer parallel port port was used.
In this study the design of a mechanic construction analysis and programming of a cartesian robot facilitating the vectoral drawing on the paper in the computer environment through moving the pen on X, Y, Z axis with a combination of step motors has been aimed.The study was conducted under three main categories, and the due designs have been made. In the first stage, step motors were analyzed in order to be designed through a draw robotic construction having the capability of vertical movement on X, Y ,Z axis; in the second stage, the design of on electronic control card to be able to run the motors to be used in the robot and the data coming from the computer was made. The third stage, the design of a program capable of making vectoral drawing and the control of step motors will be made.In the mechanic construction, hybrid unipolar step motors, belts, pulleys, steal embedded axles and border switches were used. The drawing and control programmers were written in Delphi 7 software. Through the programmed and robot, lines, rectangles, squares, circles, ellipses, bows, polygons can be drawn on A4 paper. In the adaptation of the electronic control card with the computer parallel port port was used.
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Elektrik ve Elektronik Mühendisliği, Electrical and Electronics Engineering
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128