Master Degree / Yüksek Lisans Tezleri
Permanent URI for this collectionhttps://hdl.handle.net/11147/3008
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Master Thesis Design, Development, Modeling and Control of a Stewart Platform(Izmir Institute of Technology, 2020) Gündüz, Ali Bars; Tatlıcıoğlu, EnverNeed 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.Master Thesis Robotization of Hand Woven Carpet Technology Process(Izmir Institute of Technology, 2008) Selvi, Özgün; Alizade, RasimThis 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, RasimThis 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 Unlimited-Wokspace Teleoperation(Izmir Institute of Technology, 2012) Şahin, Osman Nuri; Dede, Mehmet İsmet CanTeleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope.Master Thesis Path Generation Analysis of Flexible Manipulators(Izmir Institute of Technology, 2008) Bingöl, Hakan; Atan, EbubekirBy the improving technology, usage of robotic manipulators has been increased a lot in last decades. Robotic manipulators are usually used in continuous production and dangerous operations. General industries, medical applications and space missions are the most important usage areas for these manipulators. In these applications, the manipulator faces to deviation of the end effecter which depends on many reasons like friction, vibration, elastic and plastic deformations. However, the robotic calculations made, as the links of the manipulator are rigid and other effects are neglected.The aim of this thesis is to improve a path generation analysis method for the three link flexible planer manipulator. The three link manipulator is considered to investigate the flexibility effect of links on path generation. Firstly the problem and solution method is introduced then the inverse kinematic analysis is applied for the three link rigid planer manipulator. The finite element model of the three link flexible planer manipulator is developed by using the plane frame element. The general equations of the tip point displacements of the three link flexible planer manipulator are expressed and Matlab program is coded. Finally, the library robots made by aluminum and steel are chosen for numerical examples. In conclusion the results of numerical example are shown for each position of the manipulator and discussed.