Master Degree / Yüksek Lisans Tezleri

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

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2009 - 20102

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Subject: search.filters.subject.Manipulators (Mechanism)--Design and construction

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Now showing 1 - 2 of 2
  • Master Thesis
    Design of Parallel Micromechanisms for Knotting Operation
    (Izmir Institute of Technology, 2009) Çankaya, Cüneyt; Alizade, Rasim
    This thesis covers a study on the design of micromechanisms which are capable of imitating the knotting operation and their applications on carpet manufacturing.For this purpose, motion generation synthesis of a planar two degree-of-freedom serial manipulator is performed for a given path by using interpolation approximation. For a given four points, four design parameters are solved as a result of non-linear equations. Also, analysis of each stages of knotting operation is kinematically performed for the design of a cam-actuated mechanism which is designed as an alternative concept. Results of these analysis are used for the design of cam profiles those of which actuates the manipulators.After design stage of knotting micromechanisms, fully automated carpet loom design is introduced for a real-life experiment of designed mechanisms. Finally, assembly considerations of carpet loom and knotting mechanisms are given for carpet manufacturing purpose.
  • Master Thesis
    Design of a Six Degree-Of Haptic Hybrid Platform Manipultor
    (Izmir Institute of Technology, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet Can
    The word Haptic, based on an ancient Greek word called haptios, means related with touch. As an area of robotics, haptics technology provides the sense of touch for robotic applications that involve interaction with human operator and the environment. The sense of touch accompanied with the visual feedback is enough to gather most of the information about a certain environment. It increases the precision of teleoperation and sensation levels of the virtual reality (VR) applications by exerting physical properties of the environment such as forces, motions, textures. Currently, haptic devices find use in many VR and teleoperation applications. The objective of this thesis is to design a novel Six Degree-of-Freedom (DOF) haptic desktop device with a new structure that has the potential to increase the precision in the haptics technology. First, previously developed haptic devices and manipulator structures are reviewed. Following this, the conceptual designs are formed and a hybrid structured haptic device is designed manufactured and tested. Developed haptic device.s control algorithm and VR application is developed in Matlab© Simulink. Integration of the mechanism with mechanical, electromechanical and electronic components and the initial tests of the system are executed and the results are presented. According to the results, performance of the developed device is discussed and future works are addressed.