Modeling the motion of flexible robot manipulators with 1-parameter generalized deformation motion

This thesis, in which the motion of flexible robot manipulators is modelled by 1-parameter generalized deformation motion, consists of seven chapters. In the first part, the literature review is given, and the second chapter presents the basic concepts that will be used in this thesis. In the third section, the basic properties of anisotropic transformation are given. Using the definition of the linear anisotropic transformation, the linear generalized deformation transformation was defined and its basic properties were examined. It is shown that the matrix of this transformation is regular and is a subgroup of GL(3,R). In the fourth chapter, the differentiable manifold of the linear generalized deformation transformation, the Lie group, the Lie transformation group structure and the invariants of R^3 under the action of the Lie transformation group are examined. The 1-parameter subgroup of generalized deformation transformations was expressed as a 1-parameter generalized deformation motion. In the fifth section, the deformation of differentiable manifolds under 1-parameter generalized deformation motion is studied, numerical examples are given, Matlab program is written and Matlab outputs are attached. In the sixth chapter, the structure of the 1-parameter generalized deformation motion modelling the deformations of a flexible beam in the horizontal x_1Ox_2-plane, x_1Ox_2-plane and E^3 is determined, numerical examples are given, Matlab m-files are created and their graphs are drawn. In the seventh chapter, a motion matrix giving the position of the end effector due to both rigid and deformation motion of flexible one-link and flexible two-link manipulators is created and examples which are created the Matlab m-files are given.