Mechanical Engineering / Makina Mühendisliği

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Now showing 1 - 10 of 25
  • 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, Gokhan
    For 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: 5
    Citation - Scopus: 5
    A Continuously Variable Transmission-Based Variable Stiffness Actuator for Phri: Design Optimization and Performance Verification
    (American Society of Mechanical Engineers, 2024) Mobedi, Emir; Dede, Mehmet İsmet Can
    Physical human–robot interfaces (pHRIs) enabled the robots to work alongside the human workers complying with the regulations set for physical human–robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems’ design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance its application area and to detect the limitations of the system. Thus, in this paper, we present a design optimization approach (an adjustment strategy) for this system based on the design goals, desired force, and minimization of the size of the system. To implement such design goals, the static force analysis of the CVT is performed and validated. Furthermore, the fabrication of the optimized prototype is presented, and the experimental verification is performed considering the requirements of VSAs: independent position and stiffness variation, and shock absorbing. Finally, the system is calibrated to display 6 N continuous output force throughout its transmission variation range. © 2024 by ASME.
  • Article
    Citation - WoS: 9
    Citation - Scopus: 10
    The Design and Kinematic Representation of a Soft Robot in a Simulation Environment
    (Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet Can
    The 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: 9
    Citation - Scopus: 13
    Analysis of Adhesively Bonded Joints of Laser Surface Treated Composite Primary Components of Aircraft Structures
    (Elsevier, 2023) Martin, Seçkin; Nuhoğlu, Kaan; Aktaş, Engin; Tanoğlu, Metin; İplikçi, Hande; Barışık, Murat; Yeke, Melisa; Türkdoğan, Ceren; Esenoğlu, Gözde; Dehneliler, Serkan
    The performance of the adhesively bonded aerospace structures highly depends on the adhesion strength between the adhesive and adherents, which is affected by, in particular, the condition of the bonding surface. Among the various surface treatment methods, as state of the art, laser surface treatment is a suitable option for the CFRP composite structures to enhance the adhesion performance, adjusting the roughness and surface free energy with relatively minimizing the damage to the fibers. The aim of this study is the validation and evaluation of the adhesive bonding behavior of the laser surface-treated CFRP composite structures, using the finite element technique to perform a conservative prediction of the failure load and damage growth. Such objectives were achieved by executing both experimental and numerical analyses of the secondary bonded CFRP parts using a structural adhesive. In this regard, to complement physical experiments by means of numerical simulation, macro-scale 3D FEA of adhesively bonded Single Lap Joint and Skin-Spar Joint specimens has been developed employing the Cohesive Zone Model (CZM) technique in order to simulate bonding behavior in composite structures especially skin-spar relation in the aircraft wing-box.
  • Article
    Citation - WoS: 15
    Citation - Scopus: 17
    Effects 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 Erdem
    Removal 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: 1
    Citation - Scopus: 1
    Epoxy Matrix Nano Composites: Modulus, Strength and Ductility Enhancement Through Auxeticity of Α-Cristobalite Filler
    (Elsevier, 2023) Güden, Mustafa; Ülker, Sevkan; Movahedi, Nima
    The 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: 2
    Citation - Scopus: 4
    A Study on a Computationally Efficient Controller Design for a Surgical Robotic System
    (Springer, 2023) Ayit, Orhan; Dede, Mehmet İsmet Can
    The control algorithms of the surgical robotic system using the robot’s dynamics produce a relatively high computational load on the processor. This paper develops a computationally efficient computed torque controller by using a simplified dynamic modeling method and implemented in a novel surgical robot experimentally. In addition, an independent joint controller is designed and implemented to compare the results of the computed torque controller. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.
  • Article
    Citation - WoS: 3
    Citation - Scopus: 3
    Quasi-Static and Dynamic Brazilian Testing and Failure Analysis of a Deer Antler in the Transverse To the Osteon Growth Direction
    (Elsevier, 2023) Orhan, Mehmet; Sarıkaya, Mustafa Kemal; Taşdemirci, Alper; Tuncer, Can; Güden, Mustafa
    The transverse tensile strength of a naturally fallen red deer antler (Cervus Elaphus) was determined through indirect Brazilian tests using dry disc-shape specimens at quasi-static and high strain rates. Dynamic Brazilian tests were performed in a compression Split-Hopkinson Pressure Bar. Quasi-static tensile and indirect Brazilian tests were also performed along the osteon growth direction for comparison. The quasi-static transverse tensile strength ranged 31.5–44.5 MPa. The strength increased to 83 MPa on the average in the dynamic Brazilian tests, proving a rate sensitive transverse strength. The quasi-static tensile strength in the osteon growth direction was however found comparably higher, 192 MPa. A Weibull analysis indicated a higher tensile ductility in the osteon growth direction than in the transverse to the osteon growth direction. The microscopic analysis of the quasi-static Brazilian test specimens (tensile strain along the osteon growth direction) revealed a micro-cracking mechanism operating by the crack deflection/twisting at the lacunae in the concentric lamellae region and at the interface between concentric lamellae and interstitial lamellae. On the other side, the specimens in the transverse direction fractured in a more brittle manner by the separation/delamination of the concentric lamellae and pulling of the interstitial lamellae. The detected increase in the transverse strength in the high strain rate tests was further ascribed to the pull and fracture of the visco-plastic collagen fibers in the interstitial lamellae. This was also confirmed microscopically; the dynamically tested specimens exhibited flatter fracture surfaces. © 2023 Elsevier Ltd
  • Article
    Citation - WoS: 8
    Citation - Scopus: 8
    Improving 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 Erdem
    Adhesive 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: 4
    Citation - Scopus: 5
    Toward 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, Enver
    Summary 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.