Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Kinematic and Dynamic Analysis of a New Type of Spatial 6-Dof Parallel Structure Manipulator(China Machine Press, 2004) Alizade, Rasim; Bayram, ÇağdaşThis paper addresses the dynamics and kinematics of a 6xUPS type parallel structure manipulator that consists of six branches and a platform. The problem of forward and inverse displacement analysis is considered on the base of solution of the forward displacement problem for each UPS branch as a serial manipulator. Basic dynamics equations have also been considered. The values of reduced moments and forces have been determined that provides the required input forces and moments. Thus, we deal with inverse dynamics problems. Dynamic model of this type of spatial manipulator is described by a system of six non-linear differential equations of second order with applying Lagrange-Euler methods.Book Part Citation - Scopus: 6Swarm and Entropic Modeling for Landmine Detection Robots(Springer Verlag, 2008) Bayram, Çağdaş; Sevil, Hakkı Erhan; Özdemir, SerhanEven at the dawn of the 21st century, landmines still pose a global threat. Buried just inches below the surface, combatants and noncombatants alike are all at risk of stepping on a mine. Their very nature is such that these furtive weapons do not discriminate, making it an urgent task to tackle the problem. According to the U.S.State Department [1], based on an estimate reported just a few years ago, there are well over 100 million anti-personnel mines around the world. The existence of these passive weapons causes a disruption in the development of already impoverished regions, as well as maiming or killing countless innocent passers-by. Since the ratification of the anti-personnel mine total ban treaty in 1997, their detection, removal, and elimination have become a top priority. Nevertheless, at the current rate, given the manpower and the man-hours that could be dedicated to the removal of these sleeping arms, it would take centuries. The concerns regarding the speed of removal and safety of the disposers eventually bring us to the discussion of the proposed method. Nature already provided good solutions to manage groups of less able beings: fish schools, ant swarms, animal packs, bird flocks, and so on.With the growing desire of humans to create intelligent systems, these biosystems are being thoroughly inspected [3-10] and implemented [11-14] in various studies. In this study a robotic agent is referred to as a drone, the group of robotic agents is referred to as a swarm, and the agent with mapping abilities is referred to as the alpha drone.Article Citation - WoS: 39Citation - Scopus: 42Structural Synthesis of Serial Platform Manipulators(Elsevier Ltd., 2007) Alizade, Rasim; Bayram, Çağdaş; Gezgin, ErkinIn this paper, structural synthesis of serial platform manipulators is considered. Serial platform manipulators are created according to the development of the platforms and closed loops. Also a new structural formula of mobility of parallel Cartesian platform robot manipulators is presented. Structural synthesis of serial platform manipulators with lower and higher kinematic pairs with respect to their structures are also examined. Structural synthesis of parallel Cartesian platform robot manipulators is also introduced. History of structural formulas DOF are presented as a table with equations, authors, years and some commentaries. New and revised methods for structural synthesis of serial platform manipulators and parallel Cartesian platform robot manipulators are illustrated along with examples.Conference Object Citation - WoS: 4Citation - Scopus: 4A distributed behavioral model for landmine detection robots(International Association of Engineers, 2007) Bayram, Çağdaş; Sevil, Hakkı Erhan; Özdemir, SerhanThis paper presents a distributed navigation, detection and swarming model for a group of minimalist identical robotic agents. Decision making process of agents is weight based in contrast to widely used precedence based rules. The group is indirectly controlled by an alpha agent that has more sophisticated systems. Computer simulations of the proposed behavioral model generated promising results.Article Citation - WoS: 52Citation - Scopus: 61Structural Synthesis of Parallel Manipulators(Elsevier Ltd., 2004) Alizade, Rasim; Bayram, ÇağdaşIn this paper, structural synthesis and classification of parallel manipulators are considered. Parallel manipulators are classified according to their platform type(s) and connections between them. New and revised methods and formulations for designing variety of parallel manipulators with single and multiple platforms are presented along with examples.