Master Degree / Yüksek Lisans Tezleri

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

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Author: search.filters.author.Alizade, RasimWoS Q: search.filters.wosQuartile.N/A

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Now showing 1 - 5 of 5
  • Master Thesis
    Design of Parallel Micromechanisms for Knotting Operation
    (Izmir Institute of Technology, 2009) Çankaya, Cüneyt; Alizade, Rasim
    This thesis covers a study on the design of micromechanisms which are capable of imitating the knotting operation and their applications on carpet manufacturing.For this purpose, motion generation synthesis of a planar two degree-of-freedom serial manipulator is performed for a given path by using interpolation approximation. For a given four points, four design parameters are solved as a result of non-linear equations. Also, analysis of each stages of knotting operation is kinematically performed for the design of a cam-actuated mechanism which is designed as an alternative concept. Results of these analysis are used for the design of cam profiles those of which actuates the manipulators.After design stage of knotting micromechanisms, fully automated carpet loom design is introduced for a real-life experiment of designed mechanisms. Finally, assembly considerations of carpet loom and knotting mechanisms are given for carpet manufacturing purpose.
  • Master Thesis
    Robotization of Hand Woven Carpet Technology Process
    (Izmir Institute of Technology, 2008) Selvi, Özgün; Alizade, Rasim
    This thesis covers a study on the structural design of new overconstrained mechanisms and manipulators and their application to the robotization of hand woven carpet technology process.Moreover, recurrent vector equations are investigated for the synthesis of linkages, and used for the design of new mechanisms with linear-angular conditions in the subspace with general constraint one. These conditions are generalized for defining the structural groups of subspace ..5 and these structural groups are used both for the creation of new parallel manipulators and new serial-parallel platform manipulators.After investigating hand woven carpets, the knowledge gained during the structural design of mechanisms is applied to the robotization of hand woven carpet technology process. Finally, design of carpet weaving robot is introduced.
  • 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
    Design of a Mars Rover Suspension Mechanism
    (Izmir Institute of Technology, 2004) Barlas, Fırat; Alizade, Rasim
    It is obvious that rovers are important vehicles of today.s solar system exploration. Most of the rover designs have been developed for Mars and Moon surface in order to understand the geological history of the soil and rocks. Exploration operations need high speed and long distance traversal in a short mission period due to environmental effects, climate and communication restrictions. Several mechanisms have been suggested in recent years for suspensions of rovers on rough terrain. Although their different mechanisms have found a widespread usage in mobile robotics, their low operation speed is still a challenging problem. In this research, a new suspension mechanism has been designed and its kinematic analysis results were discussed. Standard rocker-bogie suspension mechanism, which has been developed in the late 1990.s, has excellent weight distribution for different positions on rough terrain. New design, mostly similar to rocker-bogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during high speed operations. This improvement increases the reliability of structure on field operations and also enables the higher speed exploration with same obstacle height capacity as rocker-bogie. In this thesis study, new bogie mechanism consisted of double-lambda mechanisms, which has been firstly presented by Pafnuty Lvovich Chebyshev in 1869, is solved by analytically to define the positions and singular configurations. A new structural synthesis formula also has been introduced for such suspension mechanisms with lower and higher kinematic pairs. By using structural synthesis methods, a suspension mechanism has been designed with double-lambda mechanism. Equivalent force and moment functions were also derived with equation of motion method. The results are confirmed with the computer analysis made by Visual Nastran 4D®. For this purpose, a computer model has been constructed and assembled with the same design parameters of NASA Mars Exploration Rovers (MER1 and MER2).
  • 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.