Master Degree / Yüksek Lisans Tezleri

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

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Department: search.filters.department.Thesis (Master)--İzmir Institute of Technology, Electrical and Electronics EngineeringSubject: search.filters.subject.Manipulators (Mechanism)

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  • Master Thesis
    Design, Development, Modeling and Control of a Stewart Platform
    (Izmir Institute of Technology, 2020) Tatlıcıoğlu, Enver; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Need for a six degrees of freedom test platform to be used in the inertial stabilization development tests of turrets, remote controlled weapon systems or sight systems is present in modern military technology development. To address this research issue, within this thesis study, a Stewart platform is built and is used for stabilization development tests of a sight system. To give a clear picture of the whole system, mechanical design criterion, electrical architecture, communication between system units and chosen hardware of the designed Stewart platform are presented in detail. After the design and development phases are completed, kinematic model is obtained via utilizing the computer–aided design model of the Stewart platform. The inverse kinematic expressions of the platform are made use of to calculate the required actuator behaviors for the platform to achieve the desired motion. Then, a cascade control structure is designed for control of both speed and position of the actuators where proportional integral controller is preferred. The designed control strategy is implemented to the Stewart platform where satisfactory performance is observed for it to be used in military vehicles.