3 Serbestlik Derecesine Sahip Bir Hareket Taklitçisinin Mafsal Uzayı Eniyilemesi ve Çözüm Analizi

Date

2011-10-15

Author

Dilan, Rasim Aşkın
Yaman, Ulaş
Çalışkan, Hakan
Demirer, Suat
Balkan, Raif Tuna

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Bu çalışmada, 3 serbestlik derecesine sahip hidrolik tahrikli bir hareket taklitçisinin kinematik çözümlemesi yapılmıştır. Hareket taklitçisi, bir platforma bağlı üç silindirden oluşmaktadır. Kinematik çözümlemesi yapılan bu sistemin eklem uzayındaki çeşitli konfigürasyonlarında sistematik olarak incelemesi yapılmış, silindirlere binen kuvvetler ve gerekli olan güçler hesaplanmıştır. Bunun sonucunda mafsal uzayında gerekli ivme ve hızlar dahilinde gerekli güçler de göz önünde bulundurularak sistemin koşulması gereken mafsal aralıklarının eniyilemesi yapılmıştır. Bunun ardından belirli bir motor seçildiği vakit, elde bulunan toplam güç dahilinde hareket taklitçisinin 3 serbestlik derecesinde de gidebileceği maksimum aralıklar belirlenip sistemin sınırları ortaya çıkarılmıştır.

Subject Keywords

Hareket taklitçisi, Kinematik çözümleme, Hidrolik sistem eniyilemesi

URI

http://www.mmo.org.tr/resimler/dosya_ekler/87609189f90daf1_ek.pdf
https://hdl.handle.net/11511/85424
http://www.hpkon.net/wp-content/uploads/mdocs/2011-33.pdf

Conference Name

VI. Ulusal Hidrolik Pnömatik Kongresi, (12 - 15 Ekim 2011)

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

R. A. Dilan, U. Yaman, H. Çalışkan, S. Demirer, and R. T. Balkan, “3 Serbestlik Derecesine Sahip Bir Hareket Taklitçisinin Mafsal Uzayı Eniyilemesi ve Çözüm Analizi,” presented at the VI. Ulusal Hidrolik Pnömatik Kongresi, (12 - 15 Ekim 2011), İzmir, Türkiye, 2011, Accessed: 00, 2021. [Online]. Available: http://www.mmo.org.tr/resimler/dosya_ekler/87609189f90daf1_ek.pdf.