Dynamic performances of kinematically and dynamically adjustable planar mechanisms

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Date

2003

Author

İyiay, Erdinç

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In this thesis, the dynamic performances of kinematically and dynamically adjustable planar mechanisms have been investigated. An adjustable mechanism is here defined to be a mechanism where some of the kinematic and/or dynamic parameters are changed in a controlled manner in order to optimize the dynamic behaviour of the mechanism in spite of variable operating conditions. Here, variable operating conditions refer to variable load(s) on the mechanism and/or variable desired input motion. The dynamic behaviour of the mechanism may be optimized via minimization of the actuator torque/force fluctuations, minimization of energy consumed by the actuators etc. According to the type of the adjustable parameter, the adjustable mechanisms are classified into two groups namely, dynamically adjustable mechanisms and kinematically adjustable mechanisms. Mechanisms, where the main concern is to change a dynamic parameter(s) are called dynamically adjustable mechanisms. In the kinematically adjustable mechanisms, on the other hand , the main concern is to change a kinematic parameter(s). The main objective of this study is to investigate the benefits of adjustable planar mechanisms, regarding different dynamic behaviours under variable operating conditions. To achieve this objective , various simulations have been performed on the computer. In these simulations, practical constraints that will exist in a real application have been taken into account as much as possible. The results reveal that, in many cases, the dynamic behaviour of a planar mechanism may be improved quite extensively via adjustable mechanisms which are obtained from the original mechanisms with slight modifications.

Subject Keywords

Dynamics, Optimization of dynamic behaviour, Adjustable mechanisms, Adjustable mechanisms, Dynamic performance

URI

http://etd.lib.metu.edu.tr/upload/3/1219922/index.pdf
https://hdl.handle.net/11511/13697

Collections

Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

E. İyiay, “Dynamic performances of kinematically and dynamically adjustable planar mechanisms,” M.S. - Master of Science, Middle East Technical University, 2003.