Mechanical Engineering / Makina Mühendisliği
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Conference Object Redundancy resolution options for the twin-it-romans robotic hybrid manufacturing system(Springer Science and Business Media B.V., 2025) Gündüz, G.M.; Dede, Mehmet İsmet Can; Kiper, Gökhan; Schmitz, M.; Corves, B.The Twinnig Iztech in Robotics Manufacturing System (TWIN-IT-ROMANS) project funded by EU Horizon -Widera-2023-Access-02-01 aims to develop a hybrid manufacturing system that can perform additive and subtractive manufacturing processes and inline quality control using a robotic system. The system will incorporate a 6-degree-of-freedom robot arm and a positioner with 2-degree-of-freedom, which will operate synchronously. This manipulation system is to be designed for performing different manufacturing operations with different degrees-of-freedom requirements. In order to reveal alternative trajectory planning scenarios for this system, this paper presents an initial review of redundancy resolution approaches for kinematically redundant robotic manipulators. First, the four main approaches for redundancy resolution techniques are introduced. Then main studies on energy minimization and stiffness maximization for kinematically redundant robotic manipulators are reviewed. Similar or new approaches are planned to be generated and implemented for the redundant system for hybrid manufacturing. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.Conference Object Towards Sustainable Manufacturing: a Review and Future Directions in Additive Manufacturing of Fiber-Reinforced Polymer Composites(Springer Science and Business Media B.V., 2025) Türkcan, M.Y.; Tetik, Halil; Kurt, B.; Dede, Mehmet İsmet Can; Karaş, B.; Tetik, H.; Shokrani, A.; Dede, M.İ.C.The United Nations Sustainable Development Goals (SDGs) provide a global framework for addressing critical challenges such as climate change, resource scarcity and sustainable industrialization. With increasing demand for products and improving quality of life, linear consumption of materials and resources following the “take-make-waste” is no longer possible. As such, innovative solutions are increasingly necessary to enable circular economy in manufacturing. Additive manufacturing (AM) has emerged as a transformative technology in achieving SDGs by enhancing resource efficiency and minimizing waste. Fiber reinforced composites are a promising application of AM, as they offer the potential to optimize material use, reduce labor and support sustainable production practices. However, there is an urgent need for considering circular economy strategies, life cycle assessment (LCA) frameworks and effective recycling at the end of their lifetime. This study examines additive manufacturing systems for fiber-reinforced composites, their environmental impact and exploring the potential contributions of robotic integration in composite manufacturing to enhanced sustainability. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.Conference Object Citation - Scopus: 3A Continuously Variable Transmission System Designed for Human–robot Interfaces(Springer, 2021) Mobedi, Emir; Dede, Mehmet İsmet CanWithin a predefined limit, continuously variable transmission (CVT) systems can continuously vary the power transmission ratio. The transmission in CVTs is achieved via friction, belt or gear systems. If CVT designs can incorporate backdrivability, independent output position and impedance variation, shock absorbtion, and low mass and inertia, they can be employed in human–robot interfaces. Among various types of CVT designs, the two-cone drive CVT designs have a major drawback since the output torque and position cannot be changed independent of each other. The friction wheel used in this design does not have a holonomic motion capability and causes this inconvenience. In order to overcome this problem, a sphere is used in this work for the CVT design as the transmission element. In addition, it is stated in the literature that common CVT drive systems do not have the capability to be used in cyclic bidirectional motion. In the presented CVT design, a second sphere is added to the system with two springs from the lower part of the cones for pretension in order to solve the bidirectional transmission problem. In this paper, the working principle and conceptual design details of the novel two-cone CVT drive are presented. Experimental results showed that the novel CVT has the capacity to transmit bidirectional power with some accuracy. © 2021, Springer Nature Singapore Pte Ltd.Article Citation - WoS: 10Citation - Scopus: 10Stiffness Modeling of a 2-Dof Over-Constrained Planar Parallel Mechanism(Elsevier, 2023) Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Kiper, GökhanStiffness model acquisition of over-constrained parallel mechanisms is relatively difficult since they have more than necessary kinematic loops. In this study, a stiffness modeling solution for over-constrained parallel mechanisms is proposed while considering the computational cost efficiency. Three contributions of the paper are: (1) Presenting the stiffness modeling procedure for serially connected closed-loop structures by using the Virtual Joint Method (2) Considering the effect of dynamic auxiliary forces and dynamic external forces on the mobile platform's deflection and achieving a direct solution by using superposition principle (3) A model fitting procedure for modifying the stiffness coefficients to comply with the experimental data. A 2 degrees-of-freedom over-constrained parallel mechanism is investigated as a case study. However, the proposed stiffness model is 6-DoF since compliant deflections occur in any direction. A finite element analysis and an experimental study verify the model's results.Research Project Farklı Kinematik Modellere Sahip Ana ve Bağımlı Robotları Olan Telerobotik Sistemin Geliştirilmesi: Teori ve Uygulamaları(2015) Tatlıcıoğlu, Enver; Zergeroǧlu, Erkan; Dede, Mehmet İsmet CanProje kapsamında farklı kinematik modellere sahip ana ve bağımlı robotları olan telerobotik sistemler için denetleyicilerin tasarlanması ve İzmir Yüksek Teknoloji Enstitüsü ve Gebze Teknik Üniversitesi (eski adı Gebze Yüksek Teknoloji Enstitüsü) arasında gerçekleştirilecek deneyler ile gerçeklenmesi hedeflenmiştir. Proje kapsamında robot kolları için görev uzayı ve eklem uzayı denetleyicileri tasarlanmıştır. Tasarlanan denetleyiciler kinematik ve/veya dinamik model belirsizlikleri ile mücadele ederken aynı zamanda da eklem hızlarının ölçümlerinin eksikliği hız gözlemcileri giderilmiştir. Kararlılık analizleri Lyaunov tarzı yöntemler kullanılarak gösterilmiştir. Tasarlanan denetleyicilerin başarımları benzetim çalışmaları ve deneylerle gösterilmiştir. Ardından telerobotik çalışmalarına geçilmiştir. Telerobotik sistemlerin görev uzayında denetlenmesini sağlayan iki denetleyici tasarlanmış ve başarımları benzetimlerle gösterilmiştir. Daha sonra model aracılı denetim ve doğrudan teleoperasyon yöntemleri farklı kinematik modellere sahip ana ve bağımlı robotlardan oluşan telerobotik sistemler için deneysel olarak kıyaslanmıştır. Son olarak İzmir Yüksek Teknoloji Enstitüsü ile Gebze Teknik Üniversitesi arasında internet ağı üzerinden farklı serbestlik derecelerine ve farklı kinematik modellere sahip robotlar arasında teleoperasyon deneyleri başarıyla yapılmıştır.Research Project Yeni alt-bileşenlerinin geliştirilmesi ile iyileştirilmiş başarımlı bir haptik sistem tasarımı (HİSS)(2019) Dede, Mehmet İsmet Can; Kiper, GökhanBir teleoperasyon sistemi kullanıcı tarafındaki ana sistem, görev yerindeki bagımlı sistem ve bu iki sistem arasındaki iletisim altyapısından olusmaktadır. Genellikle ana sistem görev yerinden uzaktadır ve kullanıcı ana sistemi kullanarak gönderdigi komutlar ile bagımlı sistemi kullanarak görevi gerçeklestirir. Söz konusu komutlar sıklıkla hareket komutlarıdır ve ana sistem kullanıcıdan bu hareket komutlarını toplamakla yükümlüdür. Görevin ihtiyacına göre söz konusu hareket komutları kullanıcının genellikle el hareketlerinden ve bazen de kullanıcının ayak, bacak, göz veya tüm vücut hareketlerinin de algılanması ile toplanabilir. Eger teleoperasyon sisteminde bagımlı sistemin görev yeri ile olan fiziksel etkilesim bilgisi kuvvet geri-beslemesi olarak ana sisteme gönderilecek ise ana sistemin geri iletilen bu kuvvet bilgisini kullanıcıya iletmesi gereklidir. Hem kullanıcının arzu edilen uzuv hareketlerini toplayan hem de kullanıcıya kuvvet iletimini saglayan cihazlara kinestetik haptik cihazlar denir. Bu projede, masaüstü haptik cihaz teknolojisinde yeni mekanizma, yeni alt-bilesenler ve model iyilestirmeleri üzerinde çalısılması ile uzaktan ameliyat sistemleri gibi hassas çalısmalarda kullanılabilecek cihaz ve alt-bilesenlerinin gelistirilmesi amaçlanmıstır. Proje kapsamında (i) manyeto-reolojik (MR) sıvısı ile gelistirilen eyleyici sistemde yapısma sorununa çözüm getiren bir eyleyici sistem gelistirilmistir (ii) çoklu hedefli eniyileme ile haptik cihaz mekanizmasının uzuvlarının fiziksel özellikleri belirlenmistir (iii) pasif dengelenme tasarımları R-CUBE mekanizması üzerinde hayata geçirilmistir (iv) aktarma oranı sürekli degistirilebilir yapıda bir aktarma organı tasarımı mafsalların direngenliginin ayarlanması için gelistirilmistir (v) haptik cihaza özgü son üründe kullanılabilecek kontrol kartı gelistirilmistir. Bahsi geçen kapsamda yapılan çalısmalar neticesinde literatüre yeni bir MR sıvısı tabanlı eyleyici sistemi, yeni bir aktarma organı ve yeni bir direngenlik basarım ölçütü kazandırılmıstır.Article Citation - WoS: 10Citation - Scopus: 12A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique(MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, LeventRedundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.Conference Object Citation - Scopus: 2Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism(Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Kiper, GökhanIf the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.Article Citation - WoS: 7Citation - Scopus: 7Gravity Compensation of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications [article](Cambridge University Press, 2023) Aldanmaz, Ataol Behram; Ayit, Orhan; Kiper, Gökhan; Dede, Mehmet İsmet CanThis work addresses the gravity balancing of a 2R1T (2 rotations – 1 translation) mechanism with remote center of motion. A previously developed balancing solution is modified and applied to a prototype and test results are presented. The mechanism is an endoscope holder for minimally invasive transnasal pituitary gland surgery. In this surgery, the endoscope is inserted through a nostril of the patient through a natural path to the pituitary gland. During the surgery, it is vital for the manipulator to be statically balanced so that in case of a motor failure, the patient is protected against any harmful motion of the endoscope. Additionally, static balancing takes the gravitational load from the actuators and hence facilitates the control of the mechanism. The mechanism is a 2URRR-URR type parallel manipulator with three legs. The payload mass is distributed to the legs on the sides. By using counter-masses for two links of each leg, the center of mass of each leg is lumped on the proximal link which simplifies the problem to balancing of a two degree-of-freedom inverted pendulum. The two proximal links with the lumped mass are statically balanced via springs. Dynamic simulations indicate that when the mechanism is statically balanced, generated actuator torques are reduced by 93.5%. Finally, the balancing solution is implemented on the prototype of the manipulator. The tests indicate that the manipulator is statically balanced within its task space when the actuators are disconnected. When the actuators are connected, the torque requirements decrease by about 37.8% with balancing.Conference Object Haptik Cihaz için İyileştirilmiş Performansa Sahip Robot Tasarımı(Özyeğin Üniversitesi, 2019) Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Sekendiz, Veysel; Kiper, Gökhan; Dede, Mehmet İsmet CanBu bildiri daha önce tasarlanmış bir kinestetik haptik cihazın tasarımının iyileştirilmesi için yapılan çalışmayı içermektedir. Bahsi geçen iyileştirme cihazın empedans aralığının genişletilmesine yöneliktir. Bu başarım kıstasında iyileştirme için yapılan mekanizma eniyileme, pasif dengeleme, konstrüksiyonel tasarımda iyileştirme ve eyleyici sistem tasarımı çalışmaları yürütülmüş ve bu bildiride sunulmuştur.