Master Degree / Yüksek Lisans Tezleri

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

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Author: search.filters.author.Kiper, GökhanPublisher: search.filters.publisher.01. Izmir Institute of Technology

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Now showing 1 - 5 of 5
  • Master Thesis
    Function Synthesis of 2-Loop And/Or 2-Dof Mechanisms
    (01. Izmir Institute of Technology, 2023) Kiper, Gökhan; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Kinematic synthesis problems are important in mechanism and machine science. This thesis focuses on function synthesis. The synthesis of different mechanisms with 1 and 2 degrees-of-freedom (dof) are issued by using least squares and Chebyshev approximations. There are various studies with these approaches in the literature. However, there are not many studies of function synthesis of 2-dof mechanisms in the literature. The aim is to study function synthesis of 2-loop and 2 dof mechanisms. 2-dof planar 5R mechanism, 1-dof Bennet 6R mechanisms, 2-dof 7R double-spherical mechanism and finally 7R planar 2-dof mechanism are worked out for function synthesis. It is shown that the function synthesis problems can be solved analytically and semi analytically. The formulations are applied using MS Excel and the results were verified using Solidworks software. It is seen that the numerical results give reliable results and construction parameters are successfully determined.
  • Master Thesis
    Design, Production and Tests of an Inherently Balanced Mechanism To Be Used as an Endoscope Holder for Endonasal Skull Base Surgery
    (01. Izmir Institute of Technology, 2023) Kiper, Gökhan; YILMAZ, TUĞRUL; Van der Wijk, Volkert; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Robotic surgery is popular in minimally invasive operations. Given the requirement for the manipulator to operate around the body-entrance point, it must have a remote center of motion. The main aim of the thesis is to design and prototype a surgical robotic arm with 3 degrees of freedom (2 rotation + 1 translation motion pattern) and a remote center of motion to be used as an endoscope holder in minimally invasive surgery. First, a literature review is conducted on robotic surgery, robots used in minimally invasive surgery and mechanisms with remote center of motion. Then, possible kinematic structures are examined and the most suitable one was selected considering the requirements such as balancing compatibility and workspace. While circular tracking arc mechanism is known in the literature, manipulator based on the modified circular tracking arc is novel. Also, gravity compensation of the circular tracking arc is performed. After the gravity-compensation solution for the manipulator is developed and parametrized by considering the workspace, link lengths and geometries were determined and a solid model was developed for detailed construction. Finally, a prototype of the mechanism is manufactured.
  • Master Thesis
    Development of Kinetostatic Design Methodology for Airplane Flap Mechanisms
    (01. Izmir Institute of Technology, 2022) Kiper, Gökhan; Kiper, Gökhan; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    The problem focused on this thesis is to minimize the fairing drag of dropped-hinge trailing edge flap mechanism of an aircraft. The background knowledge and literature review about the trailing edge flaps and mechanisms are presented, and two patents are examined. Accordingly, a parametric model for a double circular slotted arc track mechanism with a screw jack drive for a trailing edge flap is presented. This model is used in the kinetostatic design methodology. The methodology is applied for a small aircraft as a case study. The main novelty of this thesis is these model and methodology. According to the results, motor torque requirement for the screw jack is determined. The fairing depth is considerably reduced compared to a dropped hinge type mechanism.
  • Master Thesis
    Design of Hidam: Highly Deployable Articulated Mast for Positioning of Satellite Components
    (01. Izmir Institute of Technology, 2022) Kiper, Gökhan; Kiper, Gökhan; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    With the emerging space activities, use of deployable structures for aerospace applications increased in recent years. Deployable masts are special types of these structures where longitudinal deployment is required and deployable truss mast is one of the deployable mast types. In this thesis, a new design methodology for deployable truss masts is introduced resulting in superior packing ratio. It is a type of a Wren platform which has a single degree of freedom, and it is called HiDAM: Highly Deployable Articulated Mast. The mathematical model for HiDAM is constructed and the packing ratio is maximized by optimizing part lengths. Considering the set design requirements, the constructional design is carried out, first in two dimensions where mathematical model is developed, then in three dimensions. Along with the constructional design, the prototype of HiDAM is manufactured and assembled for a single deployable unit with which overall mechanism movement can be seen. It is presented that with the proposed deployable truss mast HiDAM, the packing ratio can be increased by about 12% compared to the most recent deployable truss mast examples in the literature.
  • Master Thesis
    Design of Deployable Structures Comprising Altmann Linkages
    (01. Izmir Institute of Technology, 2020) Kiper, Gökhan; Yıldız, Görkem; Kiper, Gökhan; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering
    The main objective of this thesis is to investigate possible mobile networks comprising modified Altmann linkages which can be used as deployable structures. Altmann linkage is an overconstrained single-loop linkage with six revolute joints. Within the scope of this thesis, first a modified version of the Altmann linkage is introduced. The modified version of the linkage allows more feasible solutions for constructional design compared to the original linkage. Then, the loop closure equations are written and input/output relationship of the linkage are obtained. Next, possible networks of modified Altman linkages are examined. The networks are obtained either by taking two common links between adjacent loops, or connecting adjacent loops with two new revolute joints without any common links. Also, mobility analysis is performed for each network. Finally, the deployment stages of obtained networks are modelled in a CAD software. Some of the derived networks are already noted in the literature, but several novel networks are introduced in this thesis.