Master Degree / Yüksek Lisans Tezleri

Permanent URI for this collectionhttps://hdl.handle.net/11147/3008

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Author: search.filters.author.Alizade, RasimSubject: search.filters.subject.Robots--Kinematics

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  • Master Thesis
    Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom Parallel Structure Manipulator
    (Izmir Institute of Technology, 2003) Bayram, Çağdaş; Alizade, Rasim
    This thesis covers a study on kinematic and dynamic analysis of a new type of spatial six degree of freedom parallel manipulator. The background for structural synthesis of parallel manipulators is also given. The structure of the said manipulator is especially designed to cover a larger workspace then well-known Stewart Platform and its derivates. The main point of interest for this manipulator is its hybrid actuating system, consisting of three revolute and three linear actuators.Kinematic analysis comprises forward and inverse displacement analysis. Screw Theory and geometric constraint considerations were the main tools used. While it was possible to derive a closed-form solution for the inverse displacement analysis, a numerical approach was used to solve the problem of forward displacement analysis. Based on the results of the kinematic analysis, a rough workspace study of the manipulator is also accomplished. On the dynamics part, attention has been given on inverse dynamics problem using Lagrange-Euler approach.Both high and lower level software were heavily utilized. Also computer software called .CASSoM. and .iMIDAS. are developed to be used for structural synthesis and inverse displacement analysis. The major contribution of the study to the scientific community is the proposal of a new type of parallel manipulator, which has to be studied extensively regarding its other interesting properties.
  • Master Thesis
    Biokinematic Analysis of Human Arm
    (Izmir Institute of Technology, 2006) Gezgin, Erkin; Alizade, Rasim
    Theory of Machines and Mechanisms is one of the main branches of science including many sub-branches such as biomechanics, human machine systems, computational kinematics, mechatronics, robotics, design methodology, dynamics of machinery, gearings and transmissions, cams and linkages, micro machines, nonlinear oscillations, reliability of machines and mechanisms etc. In this large area of interest, this study can be matched with the sub groups biomechanics, robotics, computational kinematics and design methodology. The main concern of the thesis is the biokinematics of the human arm. In the process of design, a suitable tool for the kinematics of human arm is investigated as quaternions along with examples. Moreover, the history of the formulas of Dof is presented as 38 equations with the unique key controlling parameters that are used in the design of new Cartesian and serial platform type robot manipulators. Structural syntheses of new manipulators are considered.Simple serial platform structural groups in subspace 8.3, and general space 8.6 are presented along with examples. Furthermore, type synthesis of human arm is accomplished with the new proposed parallel manipulator for the shoulder, elbow and wrist complex. Finally, computational kinematics of the serial human wrist manipulator and the geometrical kinematic analysis of the orientation platforms of the new parallel manipulator design for the human arm are accomplished.