Kendi Kendini Konfigüre Edebilen Robotik Bir Sistem için Mikro Ölçekte Elektromanyetik Dış Eyleyici Tabanlı Hareket Modeli Geliştirilmesi

Halil İbrahim Dokuyucu; Nurhan Gürsel Özmen

doi:10.17780/ksujes.1137806

TR EN

Kendi Kendini Konfigüre Edebilen Robotik Bir Sistem için Mikro Ölçekte Elektromanyetik Dış Eyleyici Tabanlı Hareket Modeli Geliştirilmesi

Öz

Kendi kendini konfigüre eden modüler robotlar (KKMR), yeni görevleri yerine getirmek, yeni çevresel koşullara uyum sağlamak ve olabilecek hasarlardan etkilenmemek amacıyla modüllerin uzamsal organizasyonunu değiştirebilen otonom kinematik makineler olarak tanımlanabilir. KKMR sistemlerinin en önemli amaçlarından biri milyon seviyesinde modülün bir arada çalışabildiği sistemlerin geliştirilmesidir. KKMR sistemlerinin minyatürleştirilmesi aşamasında yerleştirme ve taşıma zorlukları ortaya çıkar. Son yıllarda mikro üretim alanında elde edilen kazanımların yardımıyla, dışsal eyleyicilerin hareket sağladığı mikro robotlar, KKMR sistemlerinin minyatürleştirilmesine iyi bir alternatif sunmaktadır. Bu çalışmada mikro robotlar için dışsal manyetik eyleyiciler tarafından hareket sağlanan yeni bir kendi kendini konfigüre etme mekanizması geliştirilmiştir. Çalışmada manyetik alan etkisinde mikro tüpler içerisindeki mıknatısların hareketi sonlu elemanlar yöntemi kullanılarak incelenmiştir. Mekanizmanın dinamik modeli, sonlu elemanlar yöntemi kullanılarak elde edilmiş ve benzetim çalışmaları ile uygulanabilirliği ortaya konulmuş, teorik sonuçlarla karşılaştırmalı olarak sunulmuştur. Çalışmanın biyomedikal uygulamalarda, medikal robotlarda, endüstride, savunma sanayinde ve uzay araştırmalarındaki mikro robotik sistemler için katkıları olacağı düşünülmektedir.

Anahtar Kelimeler

DEVELOPING EXTERNAL MAGNETICALLY ACTUATION MODEL IN MICRO SCALE FOR A SELF-RECONFIGURABLE ROBOTIC SYSTEM

Abstract

Self-reconfigurable modular robots (SRMRs) are considered as autonomous kinematic machines that can change their own shape by rearranging the connectivity of their parts to perform new tasks, adapt to new circumstances or recover from damage. One of the main goals in SRMRs field is to reach to a million modules integrated self-reconfigurable systems. However, miniaturization efforts in self-reconfigurable modular robots bring some challenges such as storage and packaging. Developing externally actuated micro-robots can be a good alternative for miniaturization of SRMRs with the help of rapid enhancements in micro-manufacturing technologies encountered in the last decades. In this study a novel self-reconfiguration mechanism for micro-robots that are externally actuated by magnetic actuators is developed. In the study the motion of the magnets inside the microtubes under the effect of external magnetic field is investigated by using finite elements method. Dynamic model of the mechanism is obtained by using finite elements method and its applicability is exhibited by simulations. The results are compared with the theoretical values. It is envisioned that the study will contribute to micro-robotic systems in industry, defense industry and space missions as well as biomedical applications and medical robots.

Keywords

Kaynakça

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Ayrıntılar

Birincil Dil

Türkçe

Konular

Makine Mühendisliği

Bölüm

Araştırma Makalesi

Yazarlar

Halil İbrahim Dokuyucu
0000-0001-6991-1708
Türkiye

Nurhan Gürsel Özmen ^*
0000-0002-7016-5201
Türkiye

Yayımlanma Tarihi

3 Eylül 2022

Gönderilme Tarihi

29 Haziran 2022

Kabul Tarihi

21 Temmuz 2022

Yayımlandığı Sayı

Yıl 2022 Cilt: 25 Sayı: 3

DOI

https://doi.org/10.17780/ksujes.1137806

IZ

https://izlik.org/JA97RC45MC

Kaynak Göster

RIS / Bibtex

APA

Dokuyucu, H. İ., & Gürsel Özmen, N. (2022). Kendi Kendini Konfigüre Edebilen Robotik Bir Sistem için Mikro Ölçekte Elektromanyetik Dış Eyleyici Tabanlı Hareket Modeli Geliştirilmesi. Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi, 25(3), 434-449. https://doi.org/10.17780/ksujes.1137806