Mechanical Engineering / Makina Mühendisliği

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

Browse

Filters

2023 - 20242

Settings

Department: search.filters.department.İzmir Institute of TechnologyInstitution Author: search.filters.institutionAuthor.Kiper, Gökhan

Search Results

Now showing 1 - 2 of 2
  • Article
    Citation - WoS: 12
    Citation - Scopus: 13
    Mobility Analysis of Tripod Scissor Structures Using Screw Theory
    (Pergamon-elsevier Science Ltd, 2024) Liao, Yuan; Kiper, Gokhan; Krishnan, Sudarshan
    Mechanisms consisting of spatial scissor units have different kinematic behaviors than those of planar scissors. However, their kinematics, especially the mobility analysis, has not received enough attention. Two types of deployable asseblies are analyzed in this paper, namely the translational and mirrored assemblies. Both the assemblies are made of tripod scissor units, and their instantaneous mobility are examined using screw theory. The study starts on the configuration where all the members have the identical deployment angle. Firstly, the geometric property of each assembly was studied. Then, screw-loop equations were developed based on graph theory and closure equations. Finally, the mobility of each assembly was computed using linear algebra. Following the analysis, physical prototypes were constructed to validate the results, and several different motion modes were obtained for the translational assembly. The analysis reveals different kinematic behaviors of the two assemblies. In the given configuration, the translational assemblies have four instantaneous degrees of freedom, while the mirrored assemblies have only a single instantaneous degree of freedom.
  • Article
    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.