Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

Browse

Search Results

Now showing 1 - 10 of 82

Citation - WoS: 2
Citation - Scopus: 3
Design and Manufacturing of a Hip Joint Motion Simulator With a Novel Modular Design Approach
(Springer, 2023) Torabnia, Shams; Mihçin, Şenay; Lazoğlu, İsmail
The study is aimed to develop a hip joint wear simulator using a modular design approach to help experimentally monitor and control critical wear parameters to validate in-silico wear models. The proper control and application of wear parameters such as the range of motion, and the applied force values while estimating the lost material due to wear are essential for thorough analysis of wear phenomena for artificial joints. The simulator's dynamics were first modeled, then dynamic loading data was used to calculate the forces, which were further used for topology optimization to reduce the forces acting on each joint. The reduction of the link weights, connected to the actuators, intends to improve the quality of motion transferred to the femoral head. The modular design approach enables topology-optimized geometry, associated gravitational and dynamic forces, resulting in a cost-effective, energy-efficient product. Moreover, this design allows integration of the subject specific data by allowing different boundary conditions following the requirements of industry 5.0. Overall, the in-vitro motion stimulations of the hip-joint prosthesis and the modular design approach used in the study might help improve the accuracy and the effectiveness of wear simulations, which could lead into the development of better and longer-lasting joint prostheses for all. The subject-specific and society-based daily life data implemented as boundary conditions enable inclusion of the personalized effects. Next, with the results of the simulator, CEN Workshop Agreement (CWA) application is intended to cover the personalized effects for previously excluded populations, providing solution to inclusive design for all.
Yüksek Derecede Kurum Üreten 2b Gazyağı/hava Difüzyon Alevleri Üzerinde Diferansiyel Yayılımın ve Basıncın Etkileri
(Gazi Üniversitesi, 2024) Korucu, Ayşe; Miller, Richard
Bu çalısmada, dört farklı ortam basıncında kurum, oluşum ve yıkım süreçlerini incelemek amacıyla, yoğun kurum üreten Gazyağı/Hava alevleri, gerçek gaz (GG) ve ideal gaz (İG) hal denklemleri ve Lewis (Le) sayısının bir olarak kabul edildiği modeller ele alınmıştır. Yarı-genel kurum oluşum ve yıkım modelini içeren indirgenmiş Gazyağı/Hava mekanizması (29-adım, 10 çeşit gaz) 2 boyutlu (2B) Direk Sayısal Simülasyon (DNS) verilerini oluşturmak için MPI FORTRAN ile kodu yazılmış bir program kullanılmıştır. Le sayısının bire eşit kabul edildiği alev tahminlerinin, Le sayısının bire eşit olmadığı (genelleştirilmiş difüzyon) durumların sayısal sonuçlarından elde edilen alev yapısı ve kurum özelliklerinin istatiksel olarak benzerlik sağlayıp sağlamadığı araştırılmıştır. Bu bağlamda yapılan çalışmanın sonucunda, ortam basınçları 1, 5, 10 ve 35 atm olan Le sayısının bir olarak kabul edildiği GGLE ve İGLE modelleri ile üretilmiş 2B DNS alev tahminlerinin kurum özelliklerinin ve alev yapılarının yanlış hesaplanmasına yol açtığı belirlenmiştir.
Citation - WoS: 5
Citation - Scopus: 4
Design of a Novel Hybrid Cable-Constrained Parallel Leg Mechanism for Biped Walking Machines
(Cambridge University Press, 2023) Demirel, M.; Kiper, G.; Carbone, G.; Ceccarelli, M.
In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines. © The Author(s), 2023.
Citation - WoS: 7
Citation - Scopus: 6
Nonlinear Model Identification and Statistical Verification Using Experimental Data With a Case Study of the Ur5 Manipulator Joint Parameters
(Cambridge University Press, 2022) Abedinifar, Masoud; Ertuğrul, Şeniz; Argüz, Serdar Hakan
The identification of nonlinear terms existing in the dynamic model of real-world mechanical systems such as robotic manipulators is a challenging modeling problem. The main aim of this research is not only to identify the unknown parameters of the nonlinear terms but also to verify their existence in the model. Generally, if the structure of the model is provided, the parameters of the nonlinear terms can be identified using different numerical approaches or evolutionary algorithms. However, finding a non-zero coefficient does not guarantee the existence of the nonlinear term or vice versa. Therefore, in this study, a meticulous investigation and statistical verification are carried out to ensure the reliability of the identification process. First, the simulation data are generated using the white-box model of a direct current motor that includes some of the nonlinear terms. Second, the particle swarm optimization (PSO) algorithm is applied to identify the unknown parameters of the model among many possible configurations. Then, to evaluate the results of the algorithm, statistical hypothesis and confidence interval tests are implemented. Finally, the reliability of the PSO algorithm is investigated using experimental data acquired from the UR5 manipulator. To compare the results of the PSO algorithm, the nonlinear least squares errors (NLSE) estimation algorithm is applied to identify the unknown parameters of the nonlinear models. The result shows that the PSO algorithm has higher identification accuracy than the NLSE estimation algorithm, and the model with identified parameters using the PSO algorithm accurately calculates the output torques of the joints of the manipulator.
A Fiber-Oriented Muscle Model for Predicting the Soft Tissue Deformation During Muscle Contraction
(Mary Ann Liebert, 2022) Tang, Lei; Shan, Cunqing; Wang, Ling; Li, Dichen; Mihçin, Şenay
Effective designing of rehabilitation apparatus with high comfort and functionality depends upon the accurate characterization of the shape of the residual limb as well as its volume and shape fluctuations. The active behavior of skeletal muscles, which plays an important role in the interfacial biomechanics of human-machine interaction, is not considered in the current design processes of the rehabilitation apparatus. In this study, a three-dimensional finite element (FE) model of the human thigh was proposed to simulate the soft tissue deformation caused by muscle contraction.
Citation - WoS: 7
Citation - Scopus: 7
Gravity 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 Can
This 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.
Citation - WoS: 5
Citation - Scopus: 5
Loop Based Classification of Planar Scissor Linkages
(Springer, 2022) Kiper, Gökhan; Korkmaz, Koray; Gür, Şebnem; Yar Uncu, Müjde; Maden, Feray; Akgün, Yenal; Karagöz, Cevahir
Scissor linkages have been used for several applications since ancient Greeks and Romans. In addition to simple scissor linkages with straight rods, linkages with angulated elements have been introduced in the last decades. In the related literature, two methods have been used to design scissor linkages, one of which is based on scissor elements, and the other is based on assembling loops. This study presents a systematic classification of scissor linkages as assemblies of rhombus, kite, dart, parallelogram and anti-parallelogram loops using frieze patterns and long-short diagonal connections. After the loops are replicated along a curve as a pattern, the linkages are obtained by selection of proper common link sections for adjacent loops. The resulting linkages are analyzed for their motions and they are classified as realizing scaling deployable, angular deployable or transformable motion. Some of the linkages obtained are novel. Totally 10 scalable deployable, 1 angular deployable and 8 transformable scissor linkages are listed. Designers in architecture and engineering can use this list of linkages as a library of scissor linkage topologies.
Citation - WoS: 5
Citation - Scopus: 6
Asymmetric Y-Shaped Micromixers With Spherical Mixing Chamber for Enhanced Mixing Efficiency and Reduced Flow Impedance
(Isfahan University of Technology, 2021) Çetkin, Erdal; Miguel, A. F.
Microfluidic devices have many attractive qualities such as low cost, small size, and in-field use. Micromixers are very important components of these devices because affect their efficiency. In a passive mixer, the structural characteristics of the mixer are crucial and must be analyzed. This paper presents a numerical study of the mixing in passive Y-shaped micromixers with a spherical mixing chamber for a volume constrained system. The effect of asymmetric bifurcated ducts, the angle in between the inflow ducts, eccentricity and, obstacles inserted in the mixing sphere, on the mixing efficiency and flow impedance is evaluated. Vortical structures characteristics and the possible occurrence of engulfment are also identified. The results show that flow impedance (pressure drop for unit volumetric flow rate) can be decreased greatly for the same mixing efficiency as the volume of the spherical mixing chamber is 20% of the total volume. Insertion of the obstacles into the sphere mixing chamber decreases the mixing efficiency while they increase the flow impedance. The results also show that spherical mixing chamber enhances mixing efficiency while decreasing flow impedance if the volume reserved for it is greater than a limit value which depends on the diameter and length scale ratios in between the mother and daughter ducts as well as the total volume. Overall, the paper documents the variation of mixing efficiency and flow impedance based on the geometrical parameters of three-dimensional asymmetric passive micromixer with sphere mixing chamber.
Citation - WoS: 8
Citation - Scopus: 14
Partial Gravity Compensation of a Surgical Robot
(SAGE Publications Inc., 2021) Maaroof, Omar Waleed Najm; Saeed, Saad Zaghlul; Dede, Mehmet İsmet Can
Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators. © The Author(s) 2021.
Citation - WoS: 1
Citation - Scopus: 2
Oluklu alüminyum sandviç panellerde kor yüksekliğinin enerji sönümleme kapasitesine olan etkisi
(Gazi Üniversitesi, 2020) Kılıçaslan, Cenk; Güden, Mustafa
In this study, energy absorbing capacity of brazed and polyurethane adhesively bonded corrugated aluminum sandwich panels were investigated. In sandwich panels, Al 1050 H14 trapezoidal zig-zag corrugated cores and face and interlayer sheets were used. Each sandwich panel has core orientation of 0 degrees/0 degrees or 0 degrees/90 degrees. The cores used in these panels were smaller, core height is about 3 mm, in contrast to conventional sandwich cores. Impact tests were conducted at 3 and 6 m/s with spherical projectors. Adhesively bonded sandwich panels were also tested at 6 m/s with flat and conical projectors. Numerical models were prepared in LSDYNA to investigated the deformation behavior of cores. Panels tested with flat and conical projectors experienced complete perforation and absorbed more energy at configuration of 0 degrees/0 degrees core orientation. However, panels tested with spherical projectors were not perforated and they absorbed more energy at configuration of 0 degrees/90 degrees core orientation. Energy absorbing capacity of the panels were also compared to the panels having 9 mm height corrugated cores. The results showed that effective collapsing length was seen to increase due to increase in core height and impact energy distributed the whole panel surface more homogenous manner.

Mechanical Engineering / Makina Mühendisliği

Browse

Filters

Settings

Sort By

Results per page

Search Results