{"id":1445,"date":"2021-09-11T07:20:40","date_gmt":"2021-09-11T07:20:40","guid":{"rendered":"https:\/\/blog.metu.edu.tr\/eresmech\/?page_id=1445"},"modified":"2021-09-30T21:14:33","modified_gmt":"2021-09-30T21:14:33","slug":"7-5","status":"publish","type":"page","link":"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-5\/","title":{"rendered":"7-5"},"content":{"rendered":"<div id=\"pl-gb1445-69d7c0142869c\"  class=\"panel-layout\" ><div id=\"pg-gb1445-69d7c0142869c-0\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-gb1445-69d7c0142869c-0-0\"  class=\"panel-grid-cell\" ><div id=\"panel-gb1445-69d7c0142869c-0-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child widgetopts-SO\" data-index=\"0\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<h1 style=\"text-align: left\"><strong data-rich-text-format-boundary=\"true\">7.5 D\u00f6rt \u00c7ubuk ve Krank-Biyel Mekanizmalar\u0131 E\u015flenikleri: Robert- \u00c7ebi\u015fev Teoremi<\/strong><\/h1>\n<p>Bir d\u00f6rt-\u00e7ubuk veya bir krank-biyel mekanizmas\u0131nda temel sorunumuz bir biyel e\u011frisi ise, ayn\u0131 biyel e\u011frisini \u00e7izen ba\u015fka d\u00f6rt-\u00e7ubuk veya krank-biyel meka-nizmas\u0131 boyutlar\u0131 bulmam\u0131z m\u00fcmk\u00fcnd\u00fcr. Ayn\u0131 biyel e\u011frisini veren farkl\u0131 uzuv boyutlar\u0131na sahip d\u00f6rt \u00e7ubuk mekanizmalar\u0131na\u00a0<strong>birbirlerinin e\u015fleni\u011fi<\/strong>\u00a0diyece\u011fiz. Bu e\u015fleniklerin bulunmas\u0131 i\u00e7in ge\u00e7erli kural Robert-\u00c7ebi\u015fev teoremi ile verilmektedir:<\/p>\n<p><strong><span style=\"color: #cc0000\">Robert-\u00c7ebi\u015fev Teoremi<\/span><\/strong><\/p>\n<p>Ayn\u0131 biyel e\u011frisini \u00e7izen de\u011fi\u015fik uzuv boyutlar\u0131 olan \u00fc\u00e7 de\u011fi\u015fik d\u00f6rt-\u00e7ubuk mekanizmas\u0131 vard\u0131r.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1447 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img1-21.gif\" alt=\"\" width=\"531\" height=\"340\" \/><\/p>\n<p>\u015eekilde g\u00f6sterilen d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131 ele alal\u0131m (|A<sub>0<\/sub>B<sub>0<\/sub>| = a<sub>1<\/sub>, |A<sub>0<\/sub>A| = a<sub>2<\/sub>, |AB| = a<sub>3<\/sub>, |B<sub>0<\/sub>B| = a<sub>4<\/sub>, |AP| = b<sub>3<\/sub>, |BP| = c<sub>3<\/sub> t\u00fcr). P biyel noktas\u0131 g\u00f6sterilen bir biyel e\u011frisini \u00e7izmektedir. Bu mekanizma i\u00e7in devre kapal\u0131l\u0131k denklemi:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\">a<sub>2<\/sub>e<sup>i\u03b8<sub>12<\/sub><\/sup> + a<sub>3<\/sub>e<sup>i\u03b8<sub>13<\/sub><\/sup> = a<sub>1<\/sub> + a<sub>4<\/sub>e<sup>i\u03b8<sub>14<\/sub><\/sup><\/td>\n<td style=\"text-align: right\">(1)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>P biyel noktas\u0131n\u0131n her hangi \u03b8<sub>12<\/sub>\u00a0a\u00e7\u0131s\u0131 i\u00e7in kompleks konum vekt\u00f6r\u00fc:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\">Z<sub>P<\/sub>\u00a0= a<sub>2<\/sub>e<sup>i\u03b8<sub>12<\/sub><\/sup> + b<sub>3<\/sub>e<sup>i(\u03b8<sub>13 <\/sub>+<sub>\u00a0<\/sub>\u03b1)<\/sup><\/td>\n<td style=\"text-align: right\">(2)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>veya<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\">Z<sub>P<\/sub> = a<sub>1<\/sub> + a<sub>4<\/sub>e<sup>i\u03b8<sub>14<\/sub><\/sup> + c<sub>3<\/sub>e<sup>i(\u03b8<sub>13 <\/sub>+<sub>\u00a0<\/sub>\u03c0<sub>\u00a0<\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup><\/td>\n<td style=\"text-align: right\">(3)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>ile tan\u0131mlan\u0131r. Dikkat edilir ise (2) ve (3) denklemlerinde bulunan ba\u011f\u0131ml\u0131 konum de\u011fi\u015fkenleri \u03b8<sub>13<\/sub> ve \u03b8<sub>14<\/sub> her krank a\u00e7\u0131s\u0131 \u03b8<sub>12<\/sub> i\u00e7in (1) numaral\u0131 devre kapal\u0131l\u0131k denkleminden 3. k\u0131s\u0131mda a\u00e7\u0131kland\u0131\u011f\u0131 gibi \u00e7\u00f6z\u00fcl\u00fcr.<\/p>\n<p>E\u015fleniklerin bulunmas\u0131:<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:825px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7c0142ae3f\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_3.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_3.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_4.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_4.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_5.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_5.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_6.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_6.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_7.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_7.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_8.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"399\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate_8.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7c0142ae3f_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7c0142ae3f\"))}, 0);}var su_image_carousel_69d7c0142ae3f_script=document.getElementById(\"su_image_carousel_69d7c0142ae3f_script\");if(su_image_carousel_69d7c0142ae3f_script){su_image_carousel_69d7c0142ae3f_script.parentNode.removeChild(su_image_carousel_69d7c0142ae3f_script);}<\/script><\/p>\n<p>Ayn\u0131 biyel e\u011frisini \u00e7izen d\u00f6rt-\u00e7ubuk mekanizmalar\u0131:<\/p>\n<p style=\"text-align: center\">A<sub>0<\/sub>ABB<sub>0<\/sub>\u00a0(P, AB uzvu \u00fczerinde)<\/p>\n<p style=\"text-align: center\">C<sub>0<\/sub>C<sub>1<\/sub>A<sub>1<\/sub>A<sub>0<\/sub>\u00a0(P, C<sub>1<\/sub>A<sub>1<\/sub>\u00a0uzvu \u00fczerinde)<\/p>\n<p style=\"text-align: center\">C<sub>0<\/sub>C<sub>2<\/sub>B<sub>1<\/sub>B<sub>0<\/sub>\u00a0(P, C<sub>1<\/sub>B<sub>1<\/sub>\u00a0uzvu \u00fczerinde)<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1448\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img2-21.gif\" alt=\"\" width=\"727\" height=\"607\" \/><\/p>\n<p>\u015eimdi, C<sub>0<\/sub>\u00a0noktas\u0131n\u0131n konumu :<\/p>\n<p style=\"text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong>\u00a0= <strong>A<sub>0<\/sub>A<sub>1<\/sub><\/strong>\u00a0+ <strong>A<sub>1<\/sub>C<sub>1<\/sub><\/strong>\u00a0+ <strong>C<sub>1<\/sub>C<sub>0<\/sub><\/strong><\/p>\n<p>veya<\/p>\n<p style=\"text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong>\u00a0= <strong>A<sub>0<\/sub>B<sub>0<\/sub><\/strong>\u00a0+ <strong>B<sub>0<\/sub>B<sub>1<\/sub><\/strong>\u00a0+ <strong>B<sub>1<\/sub>C<sub>2<\/sub><\/strong>\u00a0+ <strong>C<sub>2<\/sub>C<sub>0<\/sub><\/strong><\/p>\n<p>\u015feklinde yaz\u0131labilir. Kompleks say\u0131lar kullanarak ve yukar\u0131da elde edilmi\u015f olan a\u00e7\u0131sal ve boyutsal e\u015fitliklikleri g\u00f6z \u00f6n\u00fcne alarak her iki denklem:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong> = b<sub>3<\/sub>e<sup>i(\u03b8<sub>13 <\/sub>+<sub>\u00a0<\/sub>\u03b1)<\/sup> + (a<sub>2<\/sub>b<sub>3<\/sub>\/a<sub>3<\/sub>)e<sup>i(\u03b8<sub>12 <\/sub>+<sub>\u00a0<\/sub>\u03b1)<\/sup> \u2212 (a<sub>4<\/sub>b<sub>3<\/sub>\/a<sub>3<\/sub>)e<sup>i(\u03b8<sub>14 <\/sub>+<sub>\u00a0<\/sub>\u03b1)<\/sup><\/td>\n<td style=\"text-align: right\">(4)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>veya<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong> = a<sub>1<\/sub> + c<sub>3<\/sub>e<sup>i(\u03b8<sub>13 <\/sub>+<sub>\u00a0<\/sub>\u03c0<sub>\u00a0<\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup> + (a<sub>2<\/sub>c<sub>3<\/sub>\/a<sub>3<\/sub>)e<sup>i(\u03b8<sub>12 <\/sub>+<sub>\u00a0<\/sub>\u03c0<sub>\u00a0<\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup> + (a<sub>4<\/sub>c<sub>3<\/sub>\/a<sub>3<\/sub>)e<sup>i(\u03b8<sub>14 <\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup><\/td>\n<td style=\"text-align: right\">(5)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u015feklinde yaz\u0131labilir. Elde edilen (4) denkleminde sa\u011f tarafta bulunan terimleri b<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i\u03b1<\/sup>\u00a0ve (5) denkleminde sa\u011f tarafta bulunan terimleri c<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i(\u03c0<sub>\u00a0<\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup> parantezine al\u0131r isek:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong> = b<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i\u03b1<\/sup>(a<sub>2<\/sub>e<sup>i\u03b8<sub>12<\/sub><\/sup>\u00a0+ a<sub>3<\/sub>e<sup>i\u03b8<sub>13<\/sub><\/sup>\u00a0\u2212 a<sub>4<\/sub>e<sup>i\u03b8<sub>14<\/sub><\/sup>)<\/td>\n<td style=\"text-align: right\">(6)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>veya<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong> = a<sub>1<\/sub> + c<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i(\u03c0<sub>\u00a0<\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup>(a<sub>2<\/sub>e<sup>i\u03b8<sub>12<\/sub><\/sup>\u00a0+ a<sub>3<\/sub>e<sup>i\u03b8<sub>13<\/sub><\/sup>\u00a0\u2212 a<sub>4<\/sub>e<sup>i\u03b8<sub>14<\/sub><\/sup>)<\/td>\n<td style=\"text-align: right\">(7)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>olacakt\u0131r. Denklem (1) g\u00f6z \u00f6n\u00fcne al\u0131nd\u0131\u011f\u0131nda parantez i\u00e7inde bulunan terimlerin toplam\u0131 a1 de\u011ferine e\u015fittir ve C<sub>0<\/sub>\u00a0sabit bir nokta olacakt\u0131r, di\u011fer iki d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131n devre kapal\u0131l\u0131k denklemleri, e\u011fer ilk mekanizman\u0131n devre kapal\u0131l\u0131k denklemi (1) sa\u011flan\u0131yor ise, sa\u011flanm\u0131\u015f olacakt\u0131r. C<sub>0<\/sub> sabit noktas\u0131 konum vekt\u00f6r\u00fc a<sub>1<\/sub>b<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i\u03b1<\/sup>, \u03b8<sub>12<\/sub>, \u03b8<sub>13<\/sub> ve \u03b8<sub>14<\/sub>\u00a0denklem (1) e g\u00f6re ilintili olmak \u00fczere, her \u00fc\u00e7 d\u00f6rt \u00e7ubuk mekanizmas\u0131n\u0131n P biyel noktas\u0131 ayn\u0131 konumda olacak ve ayn\u0131 biyel e\u011frisini \u00e7izecektir. B\u00f6ylece Robert-\u00c7ebi\u015fev teoremi ispat edilmi\u015f olur.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1451\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img3-17.gif\" alt=\"\" width=\"422\" height=\"441\" \/><\/p>\n<p>G\u00f6sterilen y\u00f6ntem di\u011fer d\u00f6rt-\u00e7ubuk mekanizmalar\u0131n\u0131n hem boyutlar\u0131n\u0131 ve hemde birbirlerine g\u00f6re konumlar\u0131n\u0131 belirlemektedir. Sadece uzuv boyutlar\u0131n\u0131 bulmak i\u00e7in daha basit bir y\u00f6ntem kullan\u0131labilir. Bunun i\u00e7in ele al\u0131nan d\u00f6rt-\u00e7ubuk mekanizmas\u0131nda sabit uzuv boyutunu ihmal ederek A<sub>0<\/sub>ABB<sub>0<\/sub> noktalar\u0131 bir do\u011fru olacak \u015fekilde hareketli uzuvlar\u0131 uzatal\u0131m. Robert-\u00c7ebi\u015fev teoremi b\u00f6yle bir (hareketsiz) mekanizma i\u00e7inde ge\u00e7erli oldu\u011fundan ayn\u0131 grafik kurallar kullan\u0131larak yap\u0131labilir ancak bu durumda yeni sabit uzuv boyutu: a\u2032<sub>1<\/sub>\u00a0= a<sub>2<\/sub>\u00a0+ a<sub>3<\/sub>\u00a0+ a<sub>4<\/sub>\u00a0dir. Sonu\u00e7 yukar\u0131da da g\u00f6r\u00fclmektedir. Yeni C<sub>0<\/sub>\u00a0noktas\u0131n\u0131n konumu ise:<\/p>\n<p style=\"padding-left: 40px;text-align: center\"><strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong> = a<sub>1<\/sub>b<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i\u03b1<\/sup> = a<sub>1<\/sub> + a<sub>1<\/sub>c<sub>3<\/sub>\/a<sub>3<\/sub>e<sup>i(\u03c0<sub>\u00a0<\/sub>\u2212<sub>\u00a0<\/sub>\u03b2)<\/sup> \u00a0 \u00a0,\u00a0 \u00a0 |<strong>A<sub>0<\/sub>C<sub>0<\/sub><\/strong>| = a<sub>1<\/sub>b<sub>3<\/sub>\/a<sub>3<\/sub> \u00a0 ,\u00a0 |<strong>B<sub>0<\/sub>C<sub>0<\/sub><\/strong>| = a<sub>1<\/sub>c<sub>3<\/sub>\/a<sub>3<\/sub><\/p>\n<p>olacak \u015fekilde belirlenir. \u00dc\u00e7 e\u015flenik d\u00f6rt-\u00e7ubuk mekanizmas\u0131 elde edildikten sonra, dikkat edilir ise, P noktas\u0131nda bir d\u00f6ner mafsal oldu\u011fu durumda her \u00fc\u00e7 d\u00f6rt-\u00e7ubuk mekanizmas\u0131 d\u00f6ner mafsallarla birbirlerine ba\u011fl\u0131 oldu\u011fu halde, paralelogram yap\u0131dan dolay\u0131 yine hareket edeceklerdir. \u015eekilde elde edilen mekanizma 10 uzuvlu ve 14 d\u00f6ner mafsall\u0131 (6 tekli, 4 \u00e7iftli d\u00f6ner mafsal) olup serbestlik derecesi denklemine g\u00f6re serbestlik derecesi \u22121 oldu\u011fu halde, hareket edebilir. Mekanizma daimi kritik haldedir.<\/p>\n<p>E\u015flenik mekanizmalar, uygun bir biyel e\u011frisi elde edildi\u011finde tasar\u0131mcaya \u00fc\u00e7 de\u011fi\u015fik boyuta sahip d\u00f6rt-\u00e7ubuk mekanizmas\u0131 olana\u011f\u0131 vermesi a\u00e7\u0131s\u0131ndan \u00f6nemlidir. E\u015flenik mekanizmalar\u0131n bir ba\u015fka kullan\u0131m \u015fekli ise, bu mekanizmalardan yararlanarak bir uzvun her noktas\u0131 ayn\u0131 biyel e\u011frisini \u00e7izerek \u00f6teleme yapan alt\u0131 uzuvlu bir mekanizman\u0131n tasar\u0131m\u0131n\u0131n yap\u0131labilmesidir. Bu mekanizman\u0131n bir uzvu sadece \u00f6teleme yapacak, bu uzuv \u00fczerinde al\u0131nan herhangi bir do\u011fru ilk konumuna daima paralel kalacakt\u0131r.<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:825px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7c0142bb98\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"546\" height=\"446\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"546\" height=\"446\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_3.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"546\" height=\"446\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_3.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_4.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"546\" height=\"446\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_4.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_5.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"546\" height=\"446\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_5.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_6.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"546\" height=\"446\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate4_6.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7c0142bb98_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7c0142bb98\"))}, 0);}var su_image_carousel_69d7c0142bb98_script=document.getElementById(\"su_image_carousel_69d7c0142bb98_script\");if(su_image_carousel_69d7c0142bb98_script){su_image_carousel_69d7c0142bb98_script.parentNode.removeChild(su_image_carousel_69d7c0142bb98_script);}<\/script><\/p>\n<p><strong>\u00d6rnek:<\/strong><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1452\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img4-15.gif\" alt=\"\" width=\"326\" height=\"384\" \/><\/p>\n<p>\u015eekilde g\u00f6r\u00fclmekte olan mekanizma \u00c7ebi\u015fev lambda mekanizmas\u0131 veya Hoecken do\u011frusal hareket mekanizmas\u0131 olarak bilinmektedir. P biyel noktas\u0131 krank\u0131n belirli bir d\u00f6nme aral\u0131\u011f\u0131nda yakla\u015f\u0131k olarak bir do\u011fru \u00e7izer. Uzuv boyutlar\u0131 oran\u0131: |AB| = |BP| = |B<sub>0<\/sub>B| = 2.5|A<sub>0<\/sub>A|, |A<sub>0<\/sub>B<sub>0<\/sub>| = 2|A<sub>0<\/sub>A| d\u0131r. Bu mekanizmadan yola \u00e7\u0131karak bir uzvu yakla\u015f\u0131k olarak do\u011frusal \u00f6teleme yapan alt\u0131 uzuvlu bir mekanizma elde etmek istiyoruz. y\u00f6ntem a\u015fa\u011f\u0131da a\u00e7\u0131klanmaktad\u0131r.<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:825px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7c0142ce85\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"548\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson3gif.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson3gif.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson4.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson4.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson5.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson5.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson6.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson6.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson7.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson7.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson8.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson8.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson9.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson9.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson10.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson10.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson11.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"406\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson11.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson12.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"433\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/cognate3enson12.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7c0142ce85_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7c0142ce85\"))}, 0);}var su_image_carousel_69d7c0142ce85_script=document.getElementById(\"su_image_carousel_69d7c0142ce85_script\");if(su_image_carousel_69d7c0142ce85_script){su_image_carousel_69d7c0142ce85_script.parentNode.removeChild(su_image_carousel_69d7c0142ce85_script);}<\/script><\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1453 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img5-11.gif\" alt=\"\" width=\"315\" height=\"342\" \/><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1454\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img6-9.gif\" alt=\"\" width=\"398\" height=\"228\" \/><\/p>\n<p>Elde edilmi\u015f olan bu 6 uzuvlu mekanizma arazide gidecek bir arac\u0131n suspansiyon s\u0131stemi olarak kullan\u0131labilir. Bu durumda her hangi bir teker bir \u00e7ukura veya t\u00fcmse\u011fe geldi\u011finde, di\u011fer tekerleri etkilemeden, yere dik olacak \u015fekilde yukar\u0131-a\u015fa\u011f\u0131 hareket edebilecektir.<\/p>\n<p><strong><span style=\"color: #cc0000\">Krank biyel mekanizmas\u0131 e\u015fleni\u011fi<\/span><\/strong><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-1455 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img7-8.gif\" alt=\"\" width=\"492\" height=\"263\" \/><\/p>\n<p>Krank biyel mekanizmalar\u0131nda ayn\u0131 biyel e\u011frisini \u00e7izen iki de\u011fi\u015fik krank-biyel mekanizmas\u0131 boyutu bulunmaktad\u0131r. Verilen bir krank-biyel mekanizmas\u0131n\u0131n e\u015fleni\u011fini bulmak i\u00e7in geometrik olarak:<\/p>\n<ol>\n<li>PA<sub>1<\/sub>\/\/AA<sub>0<\/sub>\u00a0ve A<sub>0<\/sub>A<sub>1<\/sub>\/\/PA olacak \u015fekilde PA<sub>1<\/sub>\u00a0ve A<sub>0<\/sub>A<sub>1<\/sub>do\u011frular\u0131n\u0131 \u00e7izip A<sub>1<\/sub>\u00a0noktas\u0131n\u0131 belirleyin.<\/li>\n<li>\u0394PA<sub>1<\/sub>C<sub>1<\/sub> \u00fc\u00e7genini \u0394PAB \u00fc\u00e7genine benzer olacak \u015fekilde \u00e7izin (\u2220A<sub>1<\/sub>PC<sub>1<\/sub> = \u2220ABP olacakt\u0131r).<\/li>\n<\/ol>\n<p>D\u00f6rt \u00e7ubuk mekanizmas\u0131nda oldu\u011fu gibi, A<sub>0<\/sub>AB bir do\u011fru \u00fczerinde olacak \u015fekilde yerle\u015ftirilerek ayn\u0131 i\u015flem yap\u0131labilir. Bu durumda e\u015flenik uzuv boyutlar\u0131 daha kolay elde edilirse de uzuvlar\u0131n birbirlerine g\u00f6re konumlar\u0131 elde edilemez.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-1456\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img8-7.gif\" alt=\"\" width=\"479\" height=\"191\" \/><\/p>\n<p>Tasar\u0131mc\u0131n\u0131n bir uygulamada temel hedefi bir biyel e\u011frisi ise, elde edilen e\u015flenik mekanizmalar\u0131 ilk kulland\u0131\u011f\u0131 mekanizman\u0131n yerine kullanabilir. Kullanaca\u011f\u0131 bu mekanizman\u0131n uzuv boyutlar\u0131 oran\u0131 veya ba\u011flama a\u00e7\u0131s\u0131 daha iyi olabilece\u011fi gibi, mekanizman\u0131n makinada yerle\u015ftirilmesi daha kolay olabilir.<\/p>\n<h3><\/h3>\n<\/div>\n<\/div><\/div><\/div><\/div><\/div>\n\n\n<p><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-4\/\" data-type=\"page\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-16\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/back_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/\" data-type=\"page\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-17\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/contents_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/\" data-type=\"page\" data-id=\"47\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-18\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/home_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch8\/\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-20\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/next_button.gif\" alt=\"\"><\/a><img loading=\"lazy\" decoding=\"async\" width=\"119\" height=\"40\" class=\"wp-image-15\" style=\"width: 119px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/ceres.gif\" alt=\"\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>7.5 D\u00f6rt \u00c7ubuk ve Krank-Biyel Mekanizmalar\u0131 E\u015flenikleri: Robert- \u00c7ebi\u015fev Teoremi Bir d\u00f6rt-\u00e7ubuk veya bir krank-biyel mekanizmas\u0131nda temel sorunumuz bir biyel e\u011frisi ise, ayn\u0131 biyel e\u011frisini \u00e7izen ba\u015fka d\u00f6rt-\u00e7ubuk veya krank-biyel meka-nizmas\u0131 boyutlar\u0131 bulmam\u0131z m\u00fcmk\u00fcnd\u00fcr. Ayn\u0131 biyel e\u011frisini veren farkl\u0131 uzuv &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-5\/\"> <span class=\"screen-reader-text\">7-5<\/span> Devam\u0131n\u0131 Oku &raquo;<\/a><\/p>\n","protected":false},"author":7747,"featured_media":0,"parent":853,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-1445","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/1445","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/users\/7747"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/comments?post=1445"}],"version-history":[{"count":0,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/1445\/revisions"}],"up":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/853"}],"wp:attachment":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/media?parent=1445"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}