Karamanoğlu Mehmetbey Üniversitesi Mühendislik ve Doğa Bilimleri Dergisi

Yazarlar: Serkan TELCİ, Metin TOZ

Konular:Mühendislik, Elektrik ve Elektronik

Anahtar Kelimeler:Cable driven robot,Parallel robot,Planar drawing robot,Optimization,Genetic algorithm.

Özet: In this study, a geometric optimization system is proposed for a planar cable driven drawing robot. This system proposes the optimum geometric design that will enable the robot to draw a sample picture taken from the user. The system takes the sample picture and the desired number of corner points for the cable driven robot as input, and by using this information, it optimizes the cable lengths of the robot mechanism and the connection points of the cables to the pen. Genetic Algorithm was used as an optimization tool. In order to test the proposed system, geometric optimization has been made for two different pictures and three different corner point numbers and the results obtained are presented comparatively.

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