Makine Mühendisliği Bölümü Tezleri

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/371

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Browsing Makine Mühendisliği Bölümü Tezleri by Subject "Çarpma"

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    Citation Count: Denizli, Mustafa Semih (2016). Trajectory tracking control of flexible joint parallel manipulators subject to impact / Çarpmaya maruz bırakılan esnek eklemli paralel manipülatörlerin yörünge takip kontrolü. Yayımlanmış yüksek lisans tezi. Ankara: Çankaya Üniversitesi, Fen Bilimleri Enstitüsü.
    Trajectory tracking control of flexible joint parallel manipulators subject to impact
    (2016) Denizli, Mustafa Semih; Çankaya Üniversitesi, Fen Bilimleri Enstitüsü, Makine Mühendisliği Bölümü
    In this study, trajectory tracking control method for parallel manipulators having joint elasticity is examined and in addition the stability and the performance were investigated when the manipulator is subject to an impact with another object. Firstly, dynamic analysis for the parallel manipulators is carried out and the system equations of motion are derived by using Lagrange technique. Then the system impulse-momentum equations are derived. Moreover, an inverse dynamics control method is presented which is based on an input-output relation between the torques and end-effector position variables. In the case study, a 3-RPR planar parallel manipulator with three legs having joint elasticity is simulated considering an impact with a point mass body and all of these simulations are conducted by Matlab® and Simulink® software programs. After the simulations, it is observed that controller retrieved the desired trajectory and the results are provided at the end of the study.