Master Degree / Yüksek Lisans Tezleri

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

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Subject: search.filters.subject.Robots--Design and construction

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Now showing 1 - 5 of 5
  • Master Thesis
    Design of a Rescue Robot for Search and Mapping Operation
    (Izmir Institute of Technology, 2006) Gümüş Akdemir, Derya; Keçeci, Emin Faruk
    The aim of this thesis is to design a mobile robot for rescue operations after an earthquake. The robot is designed to locate injured victims and life triangle in debris, to create a map of the disaster area and to collect the necessary information needed by digging and support robots in order to the database center. This robot enables us to rescue the victim in the shortest time with minimum injury. This will let us risking the lives of the rescue teams much less as well as rescuing much more victim alive.Robot is designed with the longitudinal body design. Shock absorber system gives the damper effect against falls as well as adding advanced equilibrium properties while passing through a rough land. Driving mechanism is a tracked steering system.Front and back arm system is developed to provide high mobility while overtaking the obstacles.Secondly hovercraft type robot, which works with the cushion pressure principle, is designed as a rescue robot. It is thought that if the adequate height is supplied, the robot could manage to overcome obstacles.As a third design, ball robot, which could easily move uphill and has a capability to overrun obstacles, is studied.Jumping mechanism will be working by magnetic piston.In addition robot is equipped with the sensors so that it has capable of the navigation. In order to achieve feasible sensor systems, all electronic components are evaluated and the most effective sensors are chosen.
  • Master Thesis
    Wearable exoskeleton robot design
    (Izmir Institute of Technology, 2007) Gün, Volkan; Keçeci, Emin Faruk
    In this thesis study it is intended to design a wearable exoskeleton robot which will replace paralytic or disable people.s legs and provide to walk. The wearable exoskeleton robot will be an intelligent system that fulfill the gait necessities, climb the slopes up and down, and remove the disadvantages of the wheelchairs and mobility aid vehicles. Robot will be a wearable device like a trouser and it will work to carry out daily duties for users. Robot will increase user.s maneuver capabilities and support users. legs and aid walking action for users thanks to 3-one degree of freedom (DOF) joints which are designed for each leg and are powered by DC electric actuators. Design of the wearable exoskeleton robot includes, modeling and designing of the robot using a parametric solid modeling computer program (Solidworks), selection of the most suitable material for the design characters and robot manufacturing processes, strength analysis of the critical part of the robot, mathematical modeling of the system, design and manufacturing of the test machine and finding the most suitable walking combination by investigating degree of freedoms of each joints on the legs. In addition to mechanical design of the wearable exoskeleton robot, an electronic circuit is designed and manufactured in order to control each joint movement order and time in walking action. Moreover, in order to control the robot by the users, a keypad unit is manufactured on the robot and necessity functions are described in the program. As a result of this thesis; a wearable exoskeleton robot is manufactured to be used as a walking assistant.
  • Master Thesis
    Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom Parallel Structure Manipulator
    (Izmir Institute of Technology, 2003) Bayram, Çağdaş; Alizade, Rasim
    This 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
    Design of a Robotic Device for Automated Nucleic Acid Extraction From Biological Samples
    (Izmir Institute of Technology, 2009) Çe, Ömer Burak; Dede, Mehmet İsmet Can
    Nucleic Acids (DNA or RNA) present the genetic structure of the cell or the organism and so are the essential components to make genetic testing. Molecular genetic testing allows one to analyze the genetic structure of an organism to have an idea about the present temporary or hereditary characteristics of the tissue or the whole organism, or specifically define its species. In order to analyze the genetic structure, one must extract and isolate the nucleic acids (NA), which are most of the time inside the cell. The aim of this thesis study is to design and manufacture an automated device with low throughput DNA extraction. Currently, the automated devices used for extraction of genetic material are being manufactured only by the foreign companies. Automated commercial devices used for this purpose were investigated in detail as well as the manual NA extraction hand tools for use in NA extraction. Commercially available components (pipette tip, reagent cartridges, tubes, etc.) to isolate NA were reviewed. Mechanism design process for a low cost and high precision system that requires minimal human operator intervention is carried out. The conceptual designs were developed and the final design of the device was made to comply with the selected components. Electronic equipments (motors, drivers, interface card, etc.) and a suitable graphical user interface compatible with the electronic components was selected and adapted to the system. Finally, a device which is competitive with the commercial ones has been designed and its prototype has been manufactured as a result of this thesis study.
  • Master Thesis
    Unlimited-Wokspace Teleoperation
    (Izmir Institute of Technology, 2012) Şahin, Osman Nuri; Dede, Mehmet İsmet Can
    Teleoperation 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.