Phd Degree / Doktora
Permanent URI for this collectionhttps://hdl.handle.net/11147/2869
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Doctoral Thesis Geometric Properties of Coupler-Curve Equation of Planar Slider-Crank and Four-Bar Linkages(01. Izmir Institute of Technology, 2022) Eraz, Talha; Kiper, GökhanThis thesis study focuses on coupler-curve of planar slider-crank and four-bar mechanisms. The geometric properties of the coupler-curve equations are investigated. The coupler-curve equations of both slider-crank and four bar mechanisms are shown to consist of quadratic and linear components. The quadratic components that appear in the coupler-curve equations are circles which determine the area the coupler-curve may be located. The path generation problem of the slider-crank mechanism is another aspect of this thesis. A limited solution to the path generation problem is introduced and tested numerically. A method that is a combination of the discovered geometric properties of the coupler-curve and numerical approximation methods is introduced. The solution approach works for the task of fitting a coupler-curve on a cluster of points and five precision points problem.Doctoral Thesis Macro-micro robotic manipulation: A laser cutting case study(Izmir Institute of Technology, 2019) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, GökhanThis dissertation focuses on investigation and devising of proper methodology to utilize a special type of kinematic redundancy, namely macro–micro manipulation, in the scope of robotic science. Briefly, macro-micro manipulation is comprised of two kinematically different mechanisms that have distinct characteristics, which work on macro and micro-scale. Aim of this dissertation is to present the most convenient motion planning and control algorithm to resolve kinematic redundancy for macro-micro manipulation concept. Controller designs, including the motion planning algorithms are devised taking into account the selected industrial case study. Additionally, a general framework controller is developed for macro-micro manipulation. Experiments with industrial setup and simulation verifications are done for the proposed methodologies. It is proven with simulation test results and experiments that the task completion duration for a laser cutting machine is reduced by enhancing the acceleration capability with the macro-micro manipulation. Although the proposed methodologies are implemented for a specific case, it can also be used for other systems considering the versatility of the proposed methodology. The core novelty of this research is the introduction of methodologies in order to achieve the maximum efficiency for the combined use of macro and micro-scaled manipulators. As an outcome of this study, a redundant laser cutting machine that can move with higher accelerations by making use of macro-micro manipulation is developed as a first of its kind in the Turkish machine industry and third of its kind in the world.