Mechanical Engineering / Makina Mühendisliği

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

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Institution Author: search.filters.institutionAuthor.Paksoy, Erkan

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  • Conference Object
    Citation - Scopus: 2
    Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism
    (Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Kiper, Gökhan
    If the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.
  • Book Part
    An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators
    (Springer, 2021) Görgülü, İbrahimcan; Paksoy, Erkan; Carbone, Giuseppe; Dede, Mehmet İsmet Can
    In this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator’s end-effector is coupled with the R-CUBE’s mobile platform. As the gantry manipulator is actuated the resultant reaction forces/moments are measured via a force\torque sensor. Subsequently, compliant displacements of R-CUBE are measured by using a coordinate measuring machine. The obtained results are presented and discussed in this paper. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.
  • Conference Object
    Conceptual Design of a 2-Dof Planar High-Speed Industrial Parallel Manipulator
    (Springer, 2019) Uzunoğlu, Emre; Özkahya, Merve; Paksoy, Erkan; Taner, Barış; Dede, Mehmet İsmet Can; Kiper, Gökhan
    This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.