Tekil pozisyonların varlığında düzlemsel paralel bir robotun yörünge tasarımı

In drive singular positions of parallel manipulators, actuators lose the ability to control the end-effector in certain directions. However, when specific consistency conditions of the dynamic equations are satisfied through proper trajectory design, the necessary actuator forces and the system motion can remain stable as the manipulator passes through singular configurations. The mechanism examined in this study consists of six joints and six links (including the fixed link), possessing three degrees of freedom. Initially, the kinematic analysis and dynamic simulation of the mechanism are conducted. In the kinematic analysis, the centers of mass of the links are assumed to be located at their midpoints, so position and velocity equations are derived accordingly. Subsequently, the kinetic and potential energies of the links are calculated, and the dynamic equations are formulated using these values. The variations of actuator torques over time are then analyzed as the manipulator passes through the singular positon for inconsistent and consistent trajectory. This analysis is performed using MATLAB. The accuracy of the kinematic results are verified by comparing them with data obtained from Autodesk Inventor. After confirming the validity of the kinematic analysis, the dynamic equations are tested. This validation is carried out by observing whether the mechanism performed a free-fall motion. Following a proper simulation of the free fall motion, the accuracy of both the dynamic equations and the resulting torque graphs was verified. (The accuracy of the free-fall motion was verified by comparing the analyses performed in Working Model and MATLAB). This thesis conducts the analysis of a parallel manipulator using previously proposed methods.