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AKILLI SİSTEMLER VE UYGULAMALARI DERGİSİ
JOURNAL OF INTELLIGENT SYSTEMS WITH APPLICATIONS
J. Intell. Syst. Appl.
E-ISSN: 2667-6893
Creative Commons License This work is licensed under a Creative Commons Attribution 4.0 International License.

Design of 3D Digitization Integrated Robotic Arm to Help Clinical Applications

Klinik Uygulamalarda Kullanılması için 3B Sanallaştırıcı Entegreli Robotik Kol Tasarımı

How to cite: Selek MB, Solmaz A, Çetintaş E, Uğur K, İşler Y. Design of 3d digitization integrated robotic arm to help clinical applications. Akıllı Sistemler ve Uygulamaları Dergisi (Journal of Intelligent Systems with Applications) 2019; 2(2): 162-166. DOI: 10.54856/jiswa.201912089

Full Text: PDF, in English.

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Title: Design of 3D Digitization Integrated Robotic Arm to Help Clinical Applications

Abstract: Thanks to developing technology, robots have been integrated into many parts of daily life. Robots are called programmable, multifunctional, work, and timesaving devices. In this study, it is aimed to enhance a robotic arm to become a new tool for transferring an object to the virtual environment by integrating a three-dimensional digitizing property to the robotic arm. The robotic arm is developed using the software of Autodesk Fusion 360 and its physical prototype is implemented using PLA filament in three dimensional printers. A general-purpose microcontroller board of Arduino Mega 2560 model connected to motor drivers is used to control stepper motors that conduct robotic arm actions. Encoders used in the threedimensional digitizer are connected to digital pins of the Arduino board to calculate the X-Y-Z coordinates of the object in the space. The proposed system is controlled via the interface program, which is developed in Python programming language. As a result, a device to use in clinical applications is available in our biomechanics laboratuary, now.

Keywords: Robotic arm; 3D digitizer; clinical applications


Başlık: Klinik Uygulamalarda Kullanılması için 3B Sanallaştırıcı Entegreli Robotik Kol Tasarımı

Özet: Gelişen teknoloji sayesinde robotlar hayatın birçok bölümüne entegre olmuştur. Robotlar programlanabilir, çok fonksiyonlu, işten ve zamandan tasarruf sağlayan cihazlar olarak adlandırılır. Bu çalışmada robotik bir kola üç boyutlu sayısallaştırıcı özelliği eklenerek, bir nesnenin sanal ortama aktarılması için bu robotik kolun yeni bir araç haline getirilmesi hedeflenmiştir. Robotik kolun mekanik tasarımı Autodesk Fusion 360 yazılımı ile geliştirilmiş ve üç boyutlu yazıcılarda PLA malzemesi ile robotik kol fiziksel prototipi gerçekleştirilmiştir. Robotik kolun hareketlerini yapacak olan step motorların kontrolü için motor sürücülerinin monte edildiği Arduino Mega 2560 modeli genel amaçlı bir mikrodenetleyici kartı kullanılmıştır. Nesnenin uzaydaki X-Y-Z koordinatlarını hesaplayabilmek için üç boyutlu sayısallaştırıcıda kullanılan enkoderler Arduino’nun dijital pinlerine bağlanmıştır. Python ile geliştirilen ara yüz programı kullanılarak geliştirilen sistem kontrol edilmiştir. Sonuç olarak, özellikle klinik uygulamalarda kullanılabilecek bir cihaz biyomekanik laboratuvarına kazandırılmıştır.

Anahtar kelimeler: Robotik kol; 3B sayısallaştırıcı; klinik uygulamalar


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