Çankaya GCRIS Standart veritabanının içerik oluşturulması ve kurulumu Research Ecosystems (https://www.researchecosystems.com) tarafından devam etmektedir. Bu süreçte gördüğünüz verilerde eksikler olabilir.
In this thesis, a novel over-constrained parallel manipulator for arm rehabilitation is introduced. This manipulator is a planar-spherical parallel manipulator with five degrees of freedom and four legs for rehabilitation of forearm (wrist, elbow and shoulder joints). First of all, the desired motions are specified. Then, manipulator geometry is proposed to ensure these motions. Inverse kinematic solutions are performed for describing the motion of actuators. Jacobian analysis is done to define singularity conditions and to obtain force-torque relation between user and the manipulator. The manipulator optimized dimensionally by using Firefly Algorithm to provide motions in workspace boundaries without any singularity condition. Obtained dimensional parameters are tested and whole workspace is scanned with several simulations to ensure whether the manipulator provide the given motions in specified workspace boundaries.