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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
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.
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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