Yüksek Lisans Tezimin İsmi:
İki Kollu Düzlemsel Robot Mekanizmasında
Esnekliğin Yörüngeye Etkisi
My Master of Science Thesis' Title:Effect
of Flexibility on Trajectory with Two Links Planar Robot
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ABSTRACT
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In this study, a planar manipulator with two links is considered.
The end point trajectory and the payload are defined as the inputs. The
angular positions, velocities, and accelerations, and the joint forces
and the necessary external motor torques are calculated by using the rigid
body dynamics.
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The forces and torques acting on the links and the distributed
inertial forces are used as the inputs to a finite element program to calculate
the vibration of the links on the end point trajectory is analysed.The
deviation of the end point from the required trajectory is studied for
different cross sectional areas, lengths of the links, and for different
speeds.
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