عنوان

Stewart platformunun tasarımı, geliştirilmesi, modellenmesi ve denetlenmesi

Number

TLpq2522819065

.Language of Text, Soundtrack etc

انگلیسی

Title Proper

Stewart platformunun tasarımı, geliştirilmesi, modellenmesi ve denetlenmesi

General Material Designation

[Thesis]

First Statement of Responsibility

Gündüz, Ali Bars

Subsequent Statement of Responsibility

Tatlıcıoğlu, Enver

Name of Publisher, Distributor, etc.

Izmir Institute of Technology (Turkey)

Date of Publication, Distribution, etc.

2020

Specific Material Designation and Extent of Item

72

Dissertation or thesis details and type of degree

Master's

Body granting the degree

Izmir Institute of Technology (Turkey)

Text preceding or following the note

2020

Text of Note

Need for a six degrees of freedom test platform to be used in the inertial stabilization development tests of turrets, remote controlled weapon systems or sight systems is present in modern military technology development. To address this research issue, within this thesis study, a Stewart platform is built and is used for stabilization development tests of a sight system. To give a clear picture of the whole system, mechanical design criterion, electrical architecture, communication between system units and chosen hardware of the designed Stewart platform are presented in detail. After the design and development phases are completed, kinematic model is obtained via utilizing the computer-aided design model of the Stewart platform. The inverse kinematic expressions of the platform are made use of to calculate the required actuator behaviors for the platform to achieve the desired motion. Then, a cascade control structure is designed for control of both speed and position of the actuators where proportional integral controller is preferred. The designed control strategy is implemented to the Stewart platform where satisfactory performance is observed for it to be used in military vehicles.

Electrical engineering

Kinematics

Mechanical properties

Software

Gündüz, Ali Bars

Tatlıcıoğlu, Enver

Electronic name

p

[Thesis]

276903

a

Y