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Master Tezleri

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Browsing Master Tezleri by Subject "3-UPU"

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    Master Thesis
    Type synthesis and instantaneous mobilty analysis of 3-UPU parallel manipulators
    (Izmir Institute of Technology, 2017-12) Boztaş, Sercan; Kiper, Gökhan
    In this study, the literature was examined and known derivatives of the 3-UPU parallel manipulator were investigated to reveal the mobility characteristics of the 3-UPU parallel manipulator. For a 3-UPU parallel manipulator, U represents the universal joint, while P represents the prismatic joint. It is a very well-known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation with respect to the base, according to the relative directions of revolute joint axes. For this reason, in this study, alternative joint axis orientations on the platforms and the limbs are examined. The generated joint layouts for the platforms were matched with each other to generate and classify alternative manipulator architectures based on some assumptions. The topological structures of thus obtained parallel manipulators are examined and limb types were determined. These limb types were then analyzed with the help of screw theory. Reciprocal screw sets were analyzed by singular value decomposition method and the instantaneous degrees of freedom of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one the parallel manipulators is performed using Solidworks Motion as an example. Among several different 3-UPU parallel manipulator architectures, especially 118 novel 3-UPU parallel manipulators with non-parasitic three degrees-of-freedom are significantly important. The classified 3-UPU parallel manipulators with determined motion characteristics can be used by researchers as a design alternative for a specific design task.