Self- reconfigurable modular exoskeleton

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2014

Öğrenci: ÇAĞRI ALTINTAŞI

Danışman: AYDAN MÜŞERREF ERKMEN

Özet:

Exoskeleton robot is a supporting structure for soldiers to lighten the weight of their equipment and for people who suffer from medical problems such as lifting, walking etc. This study, the aim is to design an exoskeleton robot for arm that consists of finite self-reconfigurable modular robots, where each modular robot have connections to neighbor modular robots. Firstly, finite element method is used to calculate the stress at each connection. This is followed by the system making a decision by itself on which modular robots will break and where these modular robots will re-connect in the structure, decreasing the stress by utilizing graph theory method. In this thesis, the modeling exoskeleton and the stress analyses have been execute by using Ansy software. Then the obtained results are transferred to Matlab, and it is determined which node will separate itself. Also, in this thesis, a real exoskeleton robot for assisting the load lifting is designed. This exoskeleton robot can lift a certain level of weight. If the system is overloaded, the least important module within the exoskeleton robot is slid to the point where the load is at highest level.