Mechanical Engineering / Makina Mühendisliği

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

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Now showing 1 - 9 of 9
  • Conference Object
    Citation - Scopus: 2
    Function Generation Synthesis With Planar 4-Bar Linkage as a Mixed Problem of Correlation of Crank Angles and Dead-Center Design
    (Springer Verlag, 2019) Kiper, Gökhan; Erez, Melih
    The function generation synthesis of planar four-bar linkage is formulated as a mixed problem of correlation or crank angles and dead-center design. The syn-thesis is based on three desired configurations of the linkage, where the input and output joint angles are specified for two of the configurations and the coupler link is folded upon the output link for the third configuration. The formulation results in a set of nonlinear equations which can be solved analytically. The formulations are tested with numerical examples and similar mixed function generation problems are briefly discussed.
  • Conference Object
    Citation - Scopus: 1
    Structural Compliance Effects on the Accuracy and Safety of a R-Cube Haptic Device
    (Springer Verlag, 2019) Carbone, Giuseppe; Acinapura, Antonio; Mundo, Domenico; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions.
  • Book Part
    Control Methods for a Teleoperated Endoscope Robot
    (Springer Verlag, 2019) Işıtman, Oğulcan; Dede, Mehmet İsmet Can
    In this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a constrained environment, which is the inside the nostrils in this case, modifications are required for the motion controller. In order to provide safe procedure, the maximum force and torque limits are defined for the real surgical case by using human cadaver head. By considering these limits and application specific requirements, a compliance controller is proposed and experimentally tested.
  • Conference Object
    Citation - Scopus: 2
    A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices
    (Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can
    A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic aspects of robots that can be applied in evaluating the unpowered system performance of kinesthetic haptic devices. The physical meanings of these metrics are discussed and the important factors that affect the unpowered system performance of a kinesthetic haptic device are revealed.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    Synthesis of Scalable Planar Scissor Linkages With Anti-Parallelogram Loops
    (Springer Verlag, 2019) Gür, Şebnem; Karagöz, Cevahir; Kiper, Gökhan; Korkmaz, Koray
    Scissor linkages are commonly used as mechanisms for scaling objects. They constitute a significant portion of deployable structures. Since 1960s many researchers sought to form novel structures using the scissor units. In 1990s Hoberman brought a new perspective to the field when he used the loops, not the units to form linkages. Starting from mid 2000s, other researchers joined into this new approach of design. One of the latest researches presented a design for scaling a circular forms with anti-parallelogram loops. This study shows that an anti-parallelogram loop assembly can also be used for scaling planar curves with variable curvature.
  • Conference Object
    Citation - Scopus: 3
    Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines
    (Springer Verlag, 2018) Demirel, Murat; Carbone, Giuseppe; Ceccarelli, Marco; Kiper, Gökhan
    This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.
  • Book Part
    Citation - WoS: 3
    Citation - Scopus: 4
    Mechanism Design for Haptic Handwriting Assistance Device
    (Springer Verlag, 2015) Kiper, Gökhan; Dede, Mehmet İsmet Can
    One of the applications of haptic technology is in education and training. Handwriting for first year-elementary students has been included in the curriculum for some years in Turkey as the first and only writing skill to be taught. Providing these students with a haptic assistance device during the handwriting learning process is the global aim of this work. Among the other components of the design such as electronics, controls and communication, mechanism design is a critical component to be considered for optimization of the device at different levels. This paper aims to address a solution to meet the design criteria through ergonomic design for user along with optimized force exertion capabilities.
  • Book Part
    Citation - WoS: 2
    Citation - Scopus: 2
    Motion Synthesis of a Planar Watt Ii Type Six-Bar Mechanism With Two End-Effectors
    (Springer Verlag, 2015) Kiper, Gökhan
    The study deals with motion generation with closed-loop mechanisms with several end-effectors. As a case study a single degree-of-freedom planar Watt II type six-bar mechanism with two end-effectors is worked on. Dyad formulation with complex numbers is made use of for the mathematical model. It is found that the motion synthesis is possible for at most three poses of the two end-effectors. The formulations are illustrated with numerical examples.
  • Book Part
    Citation - WoS: 9
    Citation - Scopus: 10
    Kinematic Design of a Reconfigurable Deployable Canopy
    (Springer Verlag, 2014) Kiper, Gökhan; Gürcü, Fulya; Korkmaz, Koray; Söylemez, Eres
    A reconfigurable and deployable mechanism is proposed for a canopy which can also be used as a tent or a semi-open structure. The proposed single degree-of-freedom mechanism has four as-sembly modes. The conditions for deployment and reconfiguration of the mechanism are derived. These conditions impose three equality and two inequality constraints on the 11 design parameters of the mechanism. A virtual model of the mechanism is constructed in Excel for design and simulation purposes. A computational case study is presented.