New design methods for polyhedral linkages

Kiper, Gökhan
This thesis analyses the existing types of polyhedral linkages and presents new linkage types for resizing polyhedral shapes. First, the transformation characteristics, most specifically, magnification performances of existing polyhedral linkages are given. Then, methods for synthesizing single degree-of-freedom planar polygonal linkages are described. The polygonal linkages synthesized are used as faces of polyhedral linkages. Next, the derivation of some of the existing linkages using the method given is presented. Finally, some designs of cover panels for the linkages are given. The Cardan Motion is the key point in both analyses of existing linkages and synthesis of new linkages.


Inverse dynamics control of flexible joint parallel manipulators
Korkmaz, Ozan; İder, Kemal; Department of Mechanical Engineering (2006)
The purpose of this thesis is to develop a position control method for parallel manipulators so that the end effector can follow a desired trajectory specified in the task space where joint flexibility that occurs at the actuated joints is also taken into consideration. At the beginning of the study, a flexible joint is modeled, and the equations of motion of the parallel manipulators are derived for both actuator variables and joint variables by using the Lagrange formulation under three assumptions regard...
A Novel Alternating Cell Directions Implicit Method for the Solution of Incompressible Navier Stokes Equations on Unstructured Grids
Bas, O.; ÇETE, ALİ RUHŞEN; Mengi, S.; Tuncer, İsmail Hakkı; Kaynak, U. (2017-01-01)
In this paper, A Novel Alternating Cell Direction Implicit Method (ACDI) is researched which allows implementation of fast line implicit methods on quadrilateral unstructured meshes. In ACDI method, designated alternating cell directions are taken along a series of contiguous cells within the unstructured grid domain and used as implicit lines similar to Line Gauss Seidel Method (LGS). ACDI method applied earlier for the solution of potential flows is extended for the solution of the incompressible Navier-S...
A Novel Parameter Identification Toolbox for the Selection of Hyperelastic Constitutive Models from Experimental Data
Dal, Hüsnü; Açıkgöz, Kemal (2017-10-13)
This paper presents a novel parameter identification toolbox based on various multi-objective optimization strategies for the selection of the best constitutive models from a given set of homogeneous experiments. The toolbox aims at providing an objective model selection procedure along with the material parameters for the rubber compound at hand. To this end, we utilize the multi-objective optimization using genetic algorithm of MATLAB. For the validation purposes, we use 10 constitutive laws.
New initialization methods for discrete coefficient FIR filter design with coefficient scaling and the use of scale factor in the design process
Çiloğlu, Tolga (Institute of Electrical and Electronics Engineers (IEEE), 2006-02-01)
The initialization of filter coefficients in discrete-coefficient finite-impulse-response (FIR) filter design (with coefficient scaling) using coefficient-value-assignment-based optimization techniques is considered. A common weakness of existing initialization measures, a total-square-error (TSE) measure and a maximum-error (ME) measure, is described. New TSE and ME measures that overcome the weakness are introduced. As opposed to the current knowledge, it is revealed that TSE and ME measures do not necess...
New morphological methods to generate two-dimensional curve offsets
Dölen, Melik; Yaman, Ulaş (2014-04-01)
For the purpose of generating 2D curve offsets used in 2.5D machining, four new methods based on morphological operations on different mathematical entities are presented in this paper. All of the methods, which lend themselves for parallel processing, exploit the idea that the boundaries formed by a circular structuring element whose center sweeps across the points on a generator/base curve comprise the entire offsets of the progenitor. The first approach, which is a carry-over from image processing, makes...
Citation Formats
G. Kiper, “New design methods for polyhedral linkages,” M.S. - Master of Science, Middle East Technical University, 2006.