Design and construction of a six degree of freedom platform

Download
index.pdf
2006
Gürbüz, Sarper
Show full item record
264
views
148
downloads
In this thesis a six degree of freedom (DOF) parallel manipulator is designed, developed and simulated virtually. The platform, which is specified and focused on in this thesis, is the specific solution for the generating the required data to simulate a land, airborne or sea vehicle’s motion trajectory in the laboratory environment. After explaining the need for such platforms for the military industry, the existing devices will be presented and discussed. Then the design period will be explained while pointing out the key performance criteria. The gathered performance values of the first design iteration will be presented and the modifications done in order to get to the expected performance will be given. Finally an investigation, in order to find the maximum payload that the platform can handle, is performed and presented. It is too hard to get to the desired performance values in mechanical design and manufacturing without using the CAD (Computer Aided Design) and CAM (Computer Aided Manufacturing) programs. In this thesis ProEngineer Wildfire® is used for solid modeling the components, the sub-assemblies and the final assembly, ANSYS Workbench® is used for investigating the modal behavior of the components, ADAMS® 2003 is used for the dynamic simulation of the mechanism, ADAMS/Flex®, ADAMS/AutoFlex® and ADAMS/Durability® are used to analyze the results when flexibility is embedded into the system. At the end of the thesis in Appendix section five technical drawings with the nominal dimensions are given in order to clarify the construction period. By the regulations that must be obeyed in ASELSAN only the nominal dimensions are given in the technical drawings. All the dimensional and geometrical tolerances are given in the approved technical drawings that are proprietary of ASELSAN.
Engineering Design.
http://etd.lib.metu.edu.tr/upload/12607806/index.pdf
https://hdl.handle.net/11511/16135
Graduate School of Natural and Applied Sciences, Thesis

Suggestions

TOWARD A MODEL-DRIVEN ENGINEERING FRAMEWORK FOR REPRODUCIBLE SIMULATION EXPERIMENT LIFECYCLE MANAGEMENT
Teran-Somohano, Alejandro; Dayibas, Orcun; Yılmaz, Levent; Smith, Alice (2014-12-10)
Goal-directed reproducible experimentation with simulation models is still a significant challenge. The underutilization of design of experiments, limited transparency in the collection and analysis of results, and ad-hoc adaptation of experiments as learning takes place continue to hamper reproducibility and hence cause a credibility gap. In this study, we propose a strategy that leverages the synergies between model-driven engineering, intelligent agent technology, and variability modeling to support the ...
A numerical study on beam stability in eccentrically braced frames
Yiğitsoy, Gül; Topkaya, Cem; Department of Civil Engineering (2010)
A two-phase research program was undertaken numerically to assess the behavior of the beam outside of the link that is designed for overstrength of the link in eccentrically braced frames (EBFs). In the first phase, software was developed to conduct a statistical analysis of the typical cases designed according to the AISC Seismic Provisions for Structural Steel Buildings. In this analysis, it was noticed that most of the statistically analyzed cases do not satisfy the code requirement provided for overstre...
A Methodology for cross-resolution modeling in DEVS using event-B refinement
Kara, Ahmet; Oğuztüzün, Mehmet Halit S.; Alpdemir, Mahmut Nedim; Department of Computer Engineering (2014)
This thesis proposes a software engineering solution for implementing simulations via composition of models at different resolution levels with the help of formal methods. Our solution provides a systematic methodology that offers a well-defined sequence of stages to obtain executable converters for entity resolution mapping, given the types of entity attributes that are exchanged at model interfaces and the mapping specifications. Our methodology relies on Event-B as the formal specification language and D...
Metamodeling atomic models in discrete event system specification (devs) formalism using multivariate adaptive regression splines (mars)
Bozağaç, Cumhur Doruk; Oğuztüzün, Mehmet Halit S.; Batmaz, İnci; Department of Computer Engineering (2014)
Computer simulations are widely used for design optimization purposes. The problem becomes challenging when design variables are high dimensional and when the simulation is computationally expensive. In this work we propose a methodology for metamodeling of dynamic simulation models via Multivariate Adaptive Regres sion Splines (MARS). To handle incomplete output processes, where the simulation model does not produce an output in some steps due to missing inputs, we have devised a two-level metamodeling sch...
Performance analyses of newton method for multi-block structured grids
Ayan, Erdem; Eyi, Sinan; Department of Aerospace Engineering (2011)
In order to make use of Newton’s method for complex flow domains, an Euler multi-block Newton solver is developed. The generated Newton solver uses Analytical Jacobian derivation technique to construct the Jacobian matrices with different flux discretization schemes up to the second order face interpolations. Constructed sparse matrices are solved by parallel and series matrix solvers. In order to use structured grids for complex domains, multi-block grid construction is needed. Each block has its own Jacob...
Citation Formats
S. Gürbüz, “Design and construction of a six degree of freedom platform,” M.S. - Master of Science, Middle East Technical University, 2006.
METU IIS - Integrated Information Service open@metu.edu.tr