Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Article Analytical Dynamic Analysis of a Kinesthetic Haptic Device(Dokuz Eylül Üniversitesi, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyA hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate point-type contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios.Conference Object Citation - WoS: 1Citation - Scopus: 2Development of an R-Cube Based General Purpose Haptic Device System(American Society of Mechanical Engineers, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet Can; Bilgincan, Tunç; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyA novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original configuration of the R-CUBE mechanism was investigated. In this work, the original design of R-CUBE is reconfigured as a haptic mechanism and the final mechanism is reoriented in order to equally distribute the gravitational effects to all grounded actuators. Rotational motions of the end-effector are monitored through the 3-DoF orientation mechanism placed on the moving platform of the parallel platform. The design of this haptic device is suitable to reflect forces in translational motions, thus point-type of contact is available for this system. The designed device is manufactured utilizing various types of manufacturing processes, such as wire erosion, laser cutting, milling and turning. Finally manufactured mechanism is integrated with electromechanical components and tested for manipulability.