Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2907
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dc.contributor.advisorAlizade, Rasimen
dc.contributor.authorSelvi, Özgün-
dc.date.accessioned2014-07-22T13:48:35Z
dc.date.available2014-07-22T13:48:35Z
dc.date.issued2012en
dc.identifier.urihttp://hdl.handle.net/11147/2907
dc.descriptionThesis (Doctoral)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2012en
dc.descriptionIncludes bibliographical references (leaves: 133-140)en
dc.descriptionText in English; Abstract: Turkish and Englishen
dc.descriptionxiii, 140 leavesen
dc.description.abstractInvestigation 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.en
dc.language.isoenen_US
dc.publisherIzmir Institute of Technologyen
dc.publisherIzmir Institute of Technologyen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subject.lcshMachinery, Kinematics ofen
dc.subject.lcshStructural analysis (Engineering)en
dc.subject.lcshManipulators (Mechanism)en
dc.titleStructural and kinematic synthesis of overconstrained mechanismsen_US
dc.typeDoctoral Thesisen_US
dc.authoridTR46949
dc.institutionauthorSelvi, Özgün-
dc.departmentThesis (Doctoral)--İzmir Institute of Technology, Mechanical Engineeringen_US
dc.relation.publicationcategoryTezen_US
item.openairetypeDoctoral Thesis-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.grantfulltextopen-
Appears in Collections:Phd Degree / Doktora
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