Master Degree / Yüksek Lisans Tezleri
Permanent URI for this collectionhttps://hdl.handle.net/11147/3008
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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 TechnologyRobotic 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 TechnologyThe 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.