Mechanical Engineering / Makina Mühendisliği

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

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Institution Author: search.filters.institutionAuthor.Kiper, GökhanPublisher: search.filters.publisher.IFToMM

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Now showing 1 - 4 of 4
  • Conference Object
    Citation - Scopus: 1
    Trajectory Planning for a Redundant Planar Laser-Cutting Machine With Macro-Micro Manipulation
    (IFToMM, 2015) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Kinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised by using kinematically different two mechanisms with different advantages. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. In this work, a macro mechanism with larger workspace is used along with a micro mechanism that has higher dynamics and lower inertia. A trajectory planning algorithm integrated with the control structure making use of the previously defined advantages of both mechanisms is explained in this paper. A case study is provided to validate the developed algorithm.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 7
    Use of Hidden Robot Concept for Calibration of an Over-Constrained Mechanism
    (IFToMM, 2015) Kiper, G.; Dede, M. I. C.; Kiper, Gökhan; Uzunoğlu, Emre; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Overconstrained mechanisms prove useful in applications where high stiffness and low weight is required against high amount of forces while keeping high precision. This study issues a planar two degrees-of-freedom overconstrained parallel manipulator for positioning the end-effector with high acceleration values (>5g) with a positioning precision in the order of 30 inn. Since the manufacturing errors were compatible with the end-effector positioning errors, it was required to perform some system identification before the precision and repeatability tests. For the system identification, the end-effector position and motor input values are recorded. However, since the mechanism is overconstrained, the link lengths could not be obtained due to the lack of analytical inverse kinematics solution. In order to cope with this problem, the hidden robot concept is utilized in order to fit a simple kinematic model between the task space and the joint space of the manipulator. Further calibration studies are carried out using the error correction matrix. The test results are presented.
  • Conference Object
    Numerical Analysis of Planar Cam Follower Mechanisms
    (IFToMM, 2012) Kiper, Gökhan; Kiper, Gökhan; Söylemez, Eres; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Given planar cam profiles and follower types, this paper analyzes their displacement diagrams numerically. The algorithm is based on the concept that a cam and its follower must have a common normal at the contact point. Instead of using kinematic inversion, this paper directly calculates contact points in the fixed coordinate system. This paper demonstrates a straightforward approach for motion analysis when discrete cam profile data points and link lengths are available. We implement the method by using the spreadsheet program Microsoft Excel®, which is well-suited for dealing with discrete data points. The results given in this paper can easily be employed in reverse engineering applications and adapted in undergraduate curriculum.
  • Article
    Function Generation Synthesis of Planar 5r Mechanism
    (IFToMM, 2013) Kiper, Gökhan; Bilgincan, Tunç; Dede, Mehmet İsmet Can; Bilgincan, Tunç; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    This paper deals with the function generation problem for a planar five-bar mechanism. The inputs to the mechanism are selected as one of the fixed joints and the mid-joint, whereas the remaining fixed joint represents the output. Synthesis problem of the five-bar mechanism is analytically formulated and an objective function is expressed in polynomial form. Function generation synthesis is performed with equal spacing and Chebyshev approximation method. The four unknown construction parameters and the error are evaluated by means of five design points and the coefficients of the objective function are determined by numerical iteration using four stationary and one moving design point. Stationary points are placed at the boundaries of the motion and the moving point is re-selected at each iteration as the point corresponding to the extremum error. Iterations are repeated until the values are stabilized. The stabilization usually occurs at the third iteration. By this method, the maximum error values are approximately equated, hence the total error is bounded at certain limits. Finally the construction parameters of the mechanism are determined.