Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
Browse
5 results
Search Results
Conference Object Citation - WoS: 2Citation - Scopus: 2Function Generation Synthesis of Planar Slider-Crank Linkages for Given 3 Positions and a Dead-Center Position(Springer Verlag, 2020) Kiper, Gokhan; Gorgulu, Ibrahimcan; Kucukoglu, Sefa FurkanFunction generation for finitely many positions and dead-center design problems are generally separately handled in the literature. This paper presents a mixed formulation for planar slider-crank linkages where three precision points and a folded or extended dead-center position are to be satisfied. The formulation results in an 8th degree univariate. Examples show that generally there are four real solutions, only two of which result in distinct solutions.Conference Object Design of a Cable-Driven Four-Bar Mechanism for Arm Rehabilitation(Springer Verlag, 2017) Eraz, Talha; Kiper, GokhanThis paper presents the design of an assistive mechanism to be used for the rehabilitation of human arm. First the motions of two types of rehabilitation exercises are described. The motions are planar motions, so a planar four bar mechanism is designed. The synthesis problem is formulated as a three-position synthesis problem. Next, the actuation issue is addressed. Actuation via cables is preferred for better force transmission. The connection point of the cable to the mechanism is optimized considering the curvature of the coupler point curve. Finally, multiple pulleys are designed for enhancing force transmission.Conference Object Path Generation Synthesis of Planar Double-Slider Linkages Via the Elliptic Coupler Curve(Springer Verlag, 2017) Kiper, Gokhan; Akbalcik, Almina; Sen, Zehra BetulThe path generation synthesis of a double-slider linkage is performed for a given elliptic curve. It is shown that there are infinity(2) linkages that can trace the same ellipse. The formulation for obtaining all such linkages is presented. The formulation sheds light for the design of the planar slider-crank and four-bar linkages from the given algebraic form of the coupler path curve as well.Conference Object Citation - WoS: 1Citation - Scopus: 1Alternating Error Effects on Decomposition Method in Function Generation Synthesis(Springer Verlag, 2017) Maaroof, Omar W.; Dede, Mehmet Ismet Can; Kiper, GokhanIn approximate function generation synthesis methods, error between the desired function's output and designed mechanism's output oscillate about zero error while crossing the zero error margin at precision points. The common goal of these methods is to minimize the error within the selected working region of the mechanism. For mechanisms like Bennett overconstrained six-revolute jointed linkages that have relatively large number of construction parameters, it is a difficult task to solve for them at once. Decomposition method enables to divide such linkages into two loops and independently solve for each loop with less construction parameters. Although some approximation methods are proven to produce smaller errors than others for a single-loop synthesis, in this work, it is shown that smaller errors are not guaranteed for a certain method when used along with decomposition method. Numerical examples indicate that in decomposition method, more attention should be given to the alternation of the error of each decomposed mechanism, rather than the approximation method used.Conference Object Citation - WoS: 2Citation - Scopus: 5Computing the SafeWorking Zone of a 3-RRS Parallel Manipulator(Springer Verlag, 2017) Patel, Dhruvesh; Kalla, Rohit; Tetik, Halil; Kiper, Gokhan; Bandyopadhyay, SandipanDetermination of the safe working zone (SWZ) of a parallel manipulator is a one-time computational task with several permanent benefits. As this sub-space of the workspace of the manipulator is free of both the loss- and gain-type singularities, link interference, as well as physical joint limits, the manipulator can move freely in this space. Moreover, if the natural choice of a convex-shaped SWZ is adhered to, then point-to-point path planning inside the SWZ always has a trivial solution, namely, a segment joining the two points, which is guaranteed to be inside the workspace. In this paper, the SWZ of the 3-RRS existing in the Izmir Institute of Technology has been computed. Starting with the geometry of the manipulator, the loop-closure constraint equations have been derived. The singularity conditions are obtained based on the singularity of certain Jacobian matrices associated with the constraint functions. The interference between the links are detected by first encapsulating the links in rectangular parallelepipeds, which are then discretized into triangles, and subjected to collision tests between the relevant pairs of triangles. Using these theoretical developments, the SWZ is computed. The numerical results are depicted graphically.