Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Paksoy, Erkan; Dede, Mehmet Ismet Can; Kiper, GokhanFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.Article Citation - WoS: 9Citation - Scopus: 10The Design and Kinematic Representation of a Soft Robot in a Simulation Environment(Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet CanThe increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.Article Citation - WoS: 15Citation - Scopus: 17Effects of Nanosecond Laser Ablation Parameters on Surface Modification of Carbon Fiber Reinforced Polymer Composites(SAGE Publications, 2023) Martin, Seçkin; İplikçi, Hande; Barışık, Murat; Türkdoğan, Ceren; Yeke, Melisa; Nuhoğlu, Kaan; Esenoğlu, Gözde; Tanoğlu, Metin; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemRemoval of contaminants and top polymer layer from the surface of carbon-fiber-reinforced polymer (CFRP) composites is critical for high-quality adhesive-joining with direct bonding to the reinforcing fiber constituents. Surface treatment with a laser beam provides selective removal of the polymer matrix without damaging the fibers and increasing the wettability. However, inhomogeneous thermal properties of CFRP make control of laser ablation difficult as the laser energy absorbed by the carbon fibers is converted into heat and transmitted through the fiber structures during the laser operation. In this study, the effect of scanning speed and laser power on nanosecond laser surface treatment was characterized by scanning electron microscope images and wetting angle measurements. Low scanning speeds allowed laser energy to be conducted as thermal energy through the fibers, which resulted in less epoxy matrix removal and substantial thermal damage. Low laser power partially degraded the epoxy the surface while the high power damaged the carbon fibers. For the studied CFRP specimens consisting of unidirectional [45/0/?45/90]2s stacking of carbon/epoxy prepregs (HexPly®-M91), 100 mJ/mm2 generated by 10 m/s scanning speed and 30 W power appeared as optimum processing parameters for the complete removal of epoxy matrix from the top surface with mostly undamaged carbon fibers and super hydrophilic surface condition. © The Author(s) 2023.Article Citation - WoS: 1Citation - Scopus: 1Epoxy Matrix Nano Composites: Modulus, Strength and Ductility Enhancement Through Auxeticity of Α-Cristobalite Filler(Elsevier, 2023) Güden, Mustafa; Ülker, Sevkan; Movahedi, NimaThe negative Poisson's ratio (NPR) nano-size ?-Cristobalite particle/epoxy composites were prepared and tensile tested. The elastic modulus and strength of the composites were improved as the particle volume fraction increased from 0 to 0.02. Unlike the conventional particle reinforced composites, the fracture strain increased with the nano ?-Cristobalite addition, an effect which was ascribed to the intrinsic NPR behavior of the filler. © 2023 Elsevier B.V.Article Citation - WoS: 8Citation - Scopus: 9Dynamic Computational Wear Model of Peek-On Bearing Couple in Total Hip Replacements(Elsevier, 2023) Alpkaya, Alican Tuncay; Mihçin, ŞenayUnderstanding wear mechanisms is a key factor to prevent primary failures causing revision surgery in total hip replacement (THR) applications. This study introduces a wear prediction model of (Polyetheretherketone) PEEK-on-XLPE (cross-linked polyethylene) bearing couple utilized to investigate the wear mechanism under 3D-gait cycle loading over 5 million cycles (Mc). A 32-mm PEEK femoral head and 4-mm thick XLPE bearing liner with a 3-mm PEEK shell are modeled in a 3D explicit finite element modeling (FEM) program. The volumetric and linear wear rates of XLPE liner per every million cycles were predicted as 1.965 mm3/Mc, and 0.0032 mm/Mc respectively. These results are consistent with the literature. PEEK-on-XLPE bearing couple exhibits a promising wear performance used in THR application. The wear pattern evolution of the model is similar to that of conventional polyethylene liners. Therefore, PEEK could be proposed as an alternative material to the CoCr head, especially used in XLPE-bearing couples. The wear prediction model could be utilized to improve the design parameters with the aim of prolonging the life span of hip implants. © 2023Article Citation - WoS: 8Citation - Scopus: 8Improving Adhesive Behavior of Fiber Reinforced Composites by Incorporating Electrospun Polyamide-6,6 Nanofibers in Joining Region(SAGE Publications, 2022) Esenoğlu, Gözde; Barışık, Murat; Tanoğlu, Metin; Yeke, Melisa; Türkdoğan, Ceren; İplikçi, Hande; Martin, Seçkin; Nuhoğlu, Kaan; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemAdhesive joining of fiber reinforced polymer (CFRP) composite components is demanded in various industrial applications. However, the joining locations frequently suffer from adhesive bond failure between adhesive and adherent. The aim of the present study is improving bonding behavior of adhesive joints by electrospun nanofiber coatings on the prepreg surfaces that have been used for composite manufacturing. Secondary bonding of woven and unidirectional CFRP parts was selected since this configuration is preferred commonly in aerospace practices. The optimum nanofiber coating with a low average fiber diameter and areal weight density is succeed by studying various solution concentrations and spinning durations of the polyamide-6.6 (PA 66) electrospinning. We obtained homogeneous and beadles nanofiber productions. As a result, an average diameter of 36.50 +/- 12 nm electrospun nanofibers were obtained and coated onto the prepreg surfaces. Prepreg systems with/without PA 66 nanofibers were hot pressed to fabricate the CFRP composite laminates. The single-lap shear test coupons were prepared from the fabricated laminates to examine the effects of PA 66 nanofibers on the mechanical properties of the joint region of the composites. The single-lap shear test results showed that the bonding strength is improved by about 40% with minimal adhesive use due to the presence of the electrospun nanofibers within the joint region. The optical and SEM images of fractured surfaces showed that nanofiber-coated joints exhibited a coherent failure while the bare surfaces underwent adhesive failure. The PA66 nanofibers created better coupling between the adhesive and the composite surface by increasing the surface area and roughness. As a result, electrospun nanofibers turned adhesive failure into cohesive and enhanced the adhesion performance composite joints substantially.Article Citation - WoS: 4Citation - Scopus: 5Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters(Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, EnverSummary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.Article Citation - WoS: 7Citation - Scopus: 7A Comprehensive Study on Burst Pressure Performance of Aluminum Liner for Hydrogen Storage Vessels(ASME, 2021) Kangal, Serkan; Sayı, Abdülmecit Harun; Ayakdaş, Ozan; Kartav, Osman; Aydın, Levent; Artem, Hatice Seçil; Aktaş, Engin; Yücetürk, Kutay; Tanoğlu, Metin; Kandemir, Sinan; Beylergil, BertanThis paper presents a comparative study on the burst pressure performance of aluminum (Al) liner for type-III composite overwrapped pressure vessels (COPVs). In the analysis, the vessels were loaded with increasing internal pressure up to the burst pressure level. In the analytical part of the study, the burst pressure of the cylindrical part was predicted based on the modified von Mises, Tresca, and average shear stress criterion (ASSC). In the numerical analysis, a finite element (FE) model was established in order to predict the behavior of the vessel as a function of increasing internal pressure and determine the final burst. The Al pressure vessels made of Al-6061-T6 alloy with a capacity of 5 L were designed. The manufacturing of the metallic vessels was purchased from a metal forming company. The experimental study was conducted by pressurizing the Al vessels until the burst failure occurred. The radial and axial strain behaviors were monitored at various locations on the vessels during loading. The results obtained through analytical, numerical, and experimental work were compared. The average experimental burst pressure of the vessels was found to be 279 bar. The experimental strain data were compared with the results of the FE analysis. The results indicated that the FE analysis and ASSC-based elastoplastic analytical approaches yielded the best predictions which are within 2.2% of the experimental burst failure values. It was also found that the elastic analysis underestimated the burst failure results; however, it was effective for determining the critical regions over the vessel structure. The strain behavior of the vessels obtained through experimental investigations was well correlated with those predicted through FE analysis.Article Citation - WoS: 21Citation - Scopus: 23Wearable Motion Capture System Evaluation for Biomechanical Studies for Hip Joints(ASME, 2021) Mihçin, Şenay; Çıklaçandır, Samet; Koçak, Mertcan; Tosun, AliyeHuman motion capture (MOCAP) systems are vital while determining the loads occurring at the joints. Most of the clinical MOCAP systems are very costly, requiring investment and infrastructure. Therefore, alternative technologies are in demand. In this study, a novel markerless wearable MOCAP system was assessed for its compatibility with a biomechanical modeling software. To collect evidence, experiments were designed in two stages for quantifying the range of motion (ROM) of the hip joint, in vitro and in vivo. Three constrained single-plane motions-abduction/adduction, flexion/extension, and internal/external rotation movements of the active leg-were analyzed. The data were collected from 14 healthy volunteers, using the wearable system and a medical grade optoelectronic MOCAP system simultaneously and compared against. For the in vitro study, the root-mean-square error (RMSE) for the abduction/adduction motion of the hip joint was calculated as 0.11deg/0.30deg and 0.11deg/0.09deg, respectively, for the wearable and the opto-electronic system. The in vivo Bland-Altman plots showed that the two system data are comparable. The simulation software is found compatible to run the simulations in offline mode. The wearable system could be utilized in the field of biomechanics software for running the kinetic simulations. The results demonstrated that the wearable system could be an alternative in the field of biomechanics based on the evidence collected.Article Citation - WoS: 3Citation - Scopus: 5Single- and Multiobjective Optimizations of Dimensionally Stable Composites Using Genetic Algorithms(Springer, 2021) Aydın, Levent; Artem, Hatice Seçil; Deveci, Hamza ArdaThe present study aims to design stacking sequences of dimensionally stable symmetric balanced laminated carbon/epoxy composites, with different numbers of layers, with a low coefficient of thermal expansion and high elastic moduli. To avoid excessive interlaminar stresses in the composites, the contiguity constraint for plies is also taken into consideration. In the design process, both single- and multiobjective optimization approaches, including genetic algorithms, are utilized. Results showed that stacking sequences ensuring lower thermal expansion coefficients and higher elastic moduli than those of traditional laminate designs can be obtained.