Makas-Mafsal Mekani̇zma Tekni̇ği̇ Kullanilarak İki̇ Serbestli̇k Dereceli̇ Kablolu Radyal Makas Si̇stemi̇ Tasarimi Ve Eklemeli̇ İmalat Yöntemi̇ İle Üreti̇mi̇

Abstract

Scissor-joint mechanisms with two or higher degrees of freedom are actively used in many machines, especially industrial robots. Novel designs are being tried for aesthetics and efficiency in technological developments. In scissor-joint mechanisms, force transmission is mostly carried out by piston, cable and spring systems. In this study, foldable scissor mechanism design with radial motion was built. It is aimed to produce scissor mechanisms with two degrees of freedom that can be converted into concave or convex shapes via cables. The topological optimization of the mechanism design was done by using the Autodesk Fusion 360 design program. The production of the designed model was achieved by using the additive manufacturing technology. The final scissor mechanism was obtained by integrating the produced parts. Mechanical system related problems arising in the mechanism after manufacturing were solved by making revisions on the design. Comparisons were made on two different prototypes produced. Additionally, the analytical solution of the obtained system is compared with the experimental results.

Modal Frequency Analyses of the Variable Stiffness Mechanism Design of the Soft Robotic System

“…Vibration damping control for the robotic arm of service application [24], series elastic actuator configurations [25], stiffness issues in variable stiffness robots [26][27][28][29][30][31][32] are the research subjects in the field of robotic systems stiffness. The torque analyses for the electrical motors [33] and spherical elastomeric bearings [34] are developing to support the variable stiffness technology in soft robotics .…”