Removing force indeterminacy in a Hooke joint mechanism by increasing and modifying its joints without causing singularities

The aim of this study is to eliminate the force indeterminacy in a Hooke joint mechanism. It is known that the Hooke joint mechanism is an overconstrained mechanism, so it is impossible to determine some of the unknown reaction forces and moments with the available number of force and moment equations. With the aid of extra joint additions and joint modifications as proposed in this study, it becomes possible to eliminate this force indeterminacy. The addition of extra joints increases the number of links; therefore the physical structure of the Hooke joint mechanism is altered. However, it is required to make a general and detailed singularity analysis to investigate the validity of all possible arrangements of joint additions and modifications. For this purpose, a general position and velocity analysis has been made to search for the singularities of the modified Hooke joint mechanisms.


A Functional design methodology with genetic algorithm optimization to a door actuation mechanism
Akman, Hasan; Turgut, Ali Emre; Department of Mechanical Engineering (2019)
In this thesis, the preliminary design of an in-flight refueling door actuation mechanism is designed. A novel design methodology is introduced to create and evaluate different mechanism design alternatives systematically. The design is divided into two sub-problems. For each sub-problem, different conceptual design alternatives and evaluation criteria are created considering the design requirements. Suitable concepts are systematically selected among the alternatives based on the evaluation criteria. Then,...
Monitoring the Microstructural Evolution in Spheroidized Steels by Magnetic Barkhausen Noise Measurements
DAVUT, Kemal; Gür, Cemil Hakan (Springer Science and Business Media LLC, 2010-12-01)
The aim of this study is to monitor nondestructively the degree of spheroidization in steels by Magnetic Barkhausen Noise (MBN) method. Various series of specimens consisting of either lamellar pearlite or partially/completely spheroidized carbides were produced from AISI 1060 steel by appropriate heat treatments. All specimens were characterized by metallographic examinations, hardness and MBN measurements. The results show that MBN signals are very sensitive to the variations in the microstructure caused ...
Control of constrained spatial three-link flexible manipulators
KILIÇASLAN, SİNAN; Özgören, Mustafa Kemal; Ider, S. Kemal (2007-06-29)
This study deals with the force and motion control of a spatial three-link articulated manipulator with flexible second and third links. In order to reduce the complexity of the dynamic equations each link is modelled as if unconnected and the joint connections are expressed as constraint equations. Then the joint forces are eliminated and the number of equations is reduced by substituting the acceleration level constraint equations into the dynamic equations. The dynamic equations are partitioned as pseudo...
on the analysis and design of a new type of partially compliant mechanism
Tanık, Engin; Söylemez, Eres; Department of Mechanical Engineering (2007)
In this study analysis and design procedures of partially compliant mechanisms using two degree of freedom mechanism model are developed. The flexible segments are modeled as revolute joints with torsional springs. While one freedom is controlled by the input to the mechanism, the motion of the parts are governed both by the kinematics and the force balance. The procedure developed for the analysis of such mechanisms is shown on two different mechanisms: a five link mechanism with crank input and slider out...
Synthesis and characterization of bulk glass-forming iron-boron based alloy systems
Gürbüz, Selen Nimet; Akdeniz, Mahmut Vedat; Department of Metallurgical and Materials Engineering (2004)
The aim of this study, which was carried out in two main parts, is to investigate the glass forming ability of Fe-based systems. The first part involves the theoretical modeling to cover the requirement of a predictive model to identify the Fe-based alloy families that have high glass forming ability in the frame of atomistic and thermodynamic approach. The second part involves the experimental investigations to prove the results of the conducted theoretical modeling studies. For this purpose, in the first ...
Citation Formats
S. Himmetoglu and M. K. Özgören, “Removing force indeterminacy in a Hooke joint mechanism by increasing and modifying its joints without causing singularities,” 2004, Accessed: 00, 2020. [Online]. Available: