Makine Mühendisliği Bölümü Tezleri

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Browsing Makine Mühendisliği Bölümü Tezleri by Author "Aldulaimi, Hassan"

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    Citation Count: ALDULAİMİ, H. (2015). Design and analysis of an overconstrained manipulator for rehabilitation. Yayımlanmamış yüksek lisans tezi. Ankara: Çankaya Üniversitesi Fen Bilimleri Enstitüsü
    Design and analysis of an overconstrained manipulator for rehabilitation
    (2015-04) Aldulaimi, Hassan; Çankaya Üniversitesi, Fen Bilimleri Ensitütüsü, Makine Mühendisliği Bölümü
    A parallel manipulator is a closed loop kinematic chain mechanism that is attached to the base by at least two limbs in parallel. Compared with the serial, the parallel manipulator has higher load-carrying capacities, higher accuracy, higher stiffness and lower inertia. Due to these advantages the parallel manipulator become viable alternative for wide applications, therefore it have been the subject of study of many research during the recent three decades. However, these kinematic closed loops also have some disadvantages, such as limited workspace, complicated forward kinematics, high cost and complicated structures. To overcome these disadvantages parallel manipulators with less than 6-DoF can be used. Also, designing a parallel manipulator with less than six degree of freedom for a subspace can relatively reduce the complexity.This thesis deals with one of the applications of parallel manipulator as a rehabilitation robot. This device is an over –constrained parallel manipulator 5 degree of freedom with 3 legs. This manipulator consists of a moving platform which is connected to a fixed base via three legs. Each leg is made of RRR(RR) (revolute) joints where the first three joint in all legs are parallel and the recent two joint are intersecting .Inverse kinematics of this device including position velocity and acceleration are studied. In addition, the workspace of the parallel manipulator is analyzed. A design optimization is conducted for the prescribed workspace of the device. Finally, this thesis also deals with the dynamic modeling the manipulator using an approach of the principle of virtual work. The equations of motion of the manipulator are derived by considering its motion characteristics. To reduce computations, inverse Jacobian matrices for manipulators are derived to give relations between input and output variables.