Design and robot operating system based control of a modular robot manipulator Modüler robot manipülatör tasarımı ve robot işletim sistemi tabanlı kontrolü

Kahveci, Aytaç

ABSTRACTIn this thesis, a new design of the modular robot manipulator and its control with Robot Operating System is presented. The modules are designed to have an adjustable twist angle, which enables to create different robot manipulator configurations. Kinematic synthesis on the gripper module is conducted and structural parameters of the gripper is determined. Axis sets on the modules are determined by Denavit-Hartenberg method. Inverse and forward kinematic analysis and singularity analysis are performed. Numerical inverse kinematic solver is proposed for modular robot manipulators with m ...Daha fazlası

Yüksek Lisans 2019 Erkin Gezgin Graduate School of Natural and Applied Sciences 29 Görüntülenme

Erişime Açık

Preparation and characterization of carbon-based nanofluids Karbon bazlı nanoakışkanların hazırlanması ve karakterizasyonu

Fidan-Aslan, Tuğçe

ABSTRACTNanofluids are produced by the addition of nano-sized particles to the base fluid in order to increase the thermal conductivity of heat transfer fluids. Preparation of stable nanofluids with high thermal conductivity is a very complex process and their usage in heat transfer applications are related to many important parameters from the stability of nanofluids to their viscosity. Optimization of these parameters is essential for the practical use of nanofluids. The objectives of this study are to successfully preparecarbon-based nanofluids while investigating the stability mechanisms a ...Daha fazlası

Yüksek Lisans 2019 Elif Alyamaç Seydibeyoğlu Graduate School of Natural and Applied Sciences 24 Görüntülenme