Thesis Defense - Ahmet Burhan Kara (MSME)

Ahmet Burhan Kara – M.Sc. Mechanical Engineering

Asst. Prof. Özkan Bebek– Advisor

Date: 10.08.2023

Time: 10.00

Location: AB4 428

“End-Effector Compliance Index for Optimizing Cable Anchor Points in Redundant Cable-Driven Parallel Robots: Design, Construction, and Control for Cement Based Additive Manufacturing”

Asst. Prof. Özkan Bebek, Özyeğin University

Asst. Prof. Ramazan Ünal, Özyeğin University

Assoc. Prof. Kemalettin Erbatur, Sabancı University

Abstract:

This thesis presents a CDPR for additive manufacturing that has been designed, constructed, and controlled based on an introduced methodology for CDPR anchor point selection. The CDPR is suspended and redundantly actuated. To find a better robot size, the stiffness of the end-effector and mean cable tension are analyzed. The end-effector compliance index (ECI) is proposed to assess the stiffness of the end-effector within the workspace. The ECI uses cable directions to determine the compliance of a given robot pose. From simulation results, a relation to getting a better CDPR frame size is achieved for both suspended and constrained type CDPRs. According to the simulation result, a redundantly actuated suspended cable-driven parallel robot was built for a 1 m base length print part. The design and construction procedure of the CDPR were explained. The robot consists of several components such as a frame to build the robot on, cables that are connected to the end-effector, pulleys that re-direct the cables to the end-effector from winches, winches to control the length of cables, an end-effector to print, and an electrical panel to contain electrical equipment. Winches uses Industrial AC servo motors. Servo motors are controlled by a motion card. The motion control card's parameters and the servo drivers' parameters were adjusted. Programming of the robot has been done. Path-tracking experimental results are provided.

Bio:

A student in B.Sc and M.Sc. program in mechanical engineering at Özyeğin University, Türkiye. He worked as a student assistant at the Robotic Laboratory under the supervision of Asst. Prof. Özkan Bebek and Assoc. Prof. Zeynep Başaran Bundur. Besides his tasks, such as assistance in Solid Mechanics, Mechanical Design, and Industrial Robot Programming, he designed, constructed, and controlled a cable-driven parallel robot. He also worked on an industrial robotic arm and a solenoid-based injector. He published two journals and one conference paper. Also, he is part of two more journals and two more conference papers that are proceeding. He’s familiar with the fundamentals of part design, machining techniques, and industrial servo control.