COMPARING PUMA ROBOT ARM WITH THE HUMAN ARM MOVEMENTS; AN ALTERNATIVE ROBOTIC ARM SHOULDER DESIGN

Using the robotic arms instead of human power becomes increasingly widespread nowadays. Widening of the robotic arms usage field is parallel to improvement of movement capability of it. In this study PUMA Robotic Arm System that is a developed system of the robotic arms was compared with a human arm due to movement. A new joint was added to PUMA Robotic Arm System to have the movements similar to the human shoulder joint. Thus, a shoulder was designed that can make movements through the sides in addition to fore and back movement.

PUMA TÝPÝ ROBOT ÝLE ÝNSAN KOLU HAREKETLERÝNÝN KARÞILAÞTIRILMASI; ALTERNATÝF BÝR ROBOT KOL OMUZ TASARIMI

Robot kollarýnýn insan gücü yerine kullanýmý, son yýllarda giderek yaygýnlaþmaktadýr. Kullaným alanýnýn geniþlemesi, robot kolunun hareket yeteneðinin geliþimine paraleldir. Bu çalýþmada robot kollarýnýn geliþmiþ bir sistemi olan PUMA Robot Kol Sistemi insan kolu ile hareket açýsýndan karþýlaþtýrýldý. PUMA Robot Kol Sistemi’ne, insan omuz eklemine benzer hareketler yapabilmesi için yeni bir mafsal eklendi. Bu sayede, ön ve arkaya hareket edebilmesinin yaný sýra, yana doðru açýlma hareketi de yapabilen bir omuz tasarlandý.