Kinematic and force analyses of overconstrained mechanisms

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Fen Bilimleri Enstitüsü, Türkiye

Tezin Onay Tarihi: 2011

Öğrenci: DENİZ ÜSTÜN

Danışman: MUSTAFA KEMAL ÖZGÖREN

Özet:

This thesis comprises a study on the kinematic and force analyses of the overconstrained mechanisms. The scope of the overconstrained mechanisms is too wide and difficult to handle. Therefore, the study is restricted to the planar overconstrained mechanisms. Although the study involves only the planar overconstrained mechanisms, the investigated methods and approaches could be extended to the spatial overconstrained mechanisms as well. In this thesis, kinematic analysis is performed in order to investigate how an overconstrained mechanism can be constructed. Four methods are used. These are the analytical method, the method of cognates, the method of combining identical modules and the method of extending an overconstrained mechanism with extra links. This thesis also involves the force analysis of the overconstrained mechanisms. A method is introduced in order to eliminate the force indeterminacy encountered in the overconstrained mechanisms. The results are design based and directly associated with the assembly phase of the mechanism.