Master Degree / Yüksek Lisans Tezleri
Permanent URI for this collectionhttps://hdl.handle.net/11147/3008
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Master Thesis Design of an Actuation System for a Haptic Glove(Izmir Institute of Technology, 2022) Kurt, Kaan Erol; Dede, Mehmet İsmet CanIn this thesis, the design of a magneto-rheological fluid-based brake (MR brake) system that is aimed to be used on a conceptually designed force feedback virtual reality glove is presented. The reasons of MR brakes are assigned for this task is that they can provide high torque output in smaller volumes/masses, their ability to operate with low power requirements and their safe natures. During their designs, in addition to ensuring their usability for a haptic glove application, solutions have been presented and applied for the sticky wall and high off-state torque problems observed in the MR brake systems. In addition to these, a novel study has been carried out to overcome the low torque-to-mass ratio problem observed in drum-type MR brake architectures used for applications requiring small sizes due to their high manufacturability. The design starts with the determination of the requirements. Later, the mathematical models were developed to estimate the output torques to be obtained from the MR brake and the solid models of the parts were created respectively. In order to estimate the performance of the developed system, magneto-static finite element analyses (FEA) were carried out. The models were updated in line with the analysis results and, the production phase was started after all the design criteria are met. A prototype MR brake system was produced, assembled and tested in order to experimentally verify the analysis results. In the tests carried out, it was observed that all the determined design criteria were met and the developed MR brake system was found to be suitable to be used in a haptic glove application. Based on the test results, the off-state torque seen in MR brake systems, which can increase up to 25% of the maximum output torque, has been reduced to 3% of the total torque output and found to be 23 mN.m. Additionally, thanks to the improved drum-type design, the typical torque-to-mass ratio seen in drum-type MR brake architectures is increased from 1.4 N.m/kg to 2. 90 N.m/kg within 206 grams of mass and 597 mN.m of dynamic torque range of the developed system.Master Thesis Analysis and Modeling of an Actuation System To Be Used in Light-Weight Collaborative Robots(Izmir Institute of Technology, 2019) Yılmaz, Mert; Dede, Mehmet İsmet CanCollaborative robots are a relatively new concept in robotics and industrial automation. Traditional industrial robots are relatively expensive, heavy, and dangerous devices for humans since they are enclosed in working cells with fences. Nowadays, in small and medium enterprises (SMEs), instead of traditional robots lightweight and versatile robots are required which can work alongside human co-workers. In such applications, human safety is a critical factor. ISO has produced new standards for these robots to regulate their collaborative work with human co-workers and named these robots as collaborative robots. The subject of the thesis is related to the actuation systems of light-weight collaborative robots. For these robots, a variety of actuation systems are designed in recent years which are usually modular and compact actuation systems. The main aim of the thesis is to analyze and model of a commonly used actuation system in collaborative robots and to verify its model.