Structural and kınematic synthesis of overconstrained mechanisms
Selvi, Özgün.

Structural and kınematic synthesis of overconstrained mechanisms

Selvi, Özgün.

Yazar Ek Girişi
Selvi, Özgün.

Yayın Bilgileri
[s.l.]: [s.n.], 2012.

Fiziksel Tanımlama
xiii, 140 leaves.: ill. + e1 computer laser optical disc.

Investigation on overconstrained mechanisms needs attention especially in the structural synthesis. Knowing overconstrained conditions and including them in the design process will help creating manipulators with less degree of freedom (DoF) and more rigidity. Also this knowledge of overconstrained conditions will clarify concept of mobility of the parallel manipulators. Another subject, kinematic synthesis of overconstrained mechanisms, is important because it will allow describing a function, path, or motion with less DoF less number of joints. The aim of this thesis is to describe a generalized approach for structural synthesis and creation of new overconstrained manipulators and to describe a potentially generalizable approach for function and motion generation synthesis of overconstrained mechanism. Moreover, screw theory is investigated as a mathematical base for defining kinematics of overconstrained mechanisms. Also, overconstrained mechanisms are investigated and generation of new mechanisms is introduced with examples. Some mathematical models for the subspace geometries are given. A method for defining overconstrained simple structural groups is introduced and extended to design of manipulators with examples and solid drawings. Linear approximation and least squares approximation methods are used for the function generation and motion generation of overconstrained 6R mechanisms. A gap of describing overconstrained manipulators is filled in the area of structural synthesis. A general methodology is described for structural synthesis, mobility and motion calculations of overconstrained manipulators using simple structural groups. A potentially generalizable method for the kinematic synthesis of overconstrained manipulators is described both for function and motion generation.

Konu Başlığı
Machinery, Kinematics of.
Structural analysis (Engineering).
Manipulators (Mechanism).

Yazar Ek Girişi
Alizade, Rasim.

Tüzel Kişi Ek Girişi
İzmir Institute of Technology. Mechanical Engineering.

Tek Biçim Eser Adı
Thesis (Doctoral)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Doctoral).

Elektronik Erişim
Acces s to Electronic Version.

LibraryMateryal TürüDemirbaş NumarasıYer Numarası
IYTE LibraryTezT000992TJ175 .S46 2011