Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Citation - WoS: 2Citation - Scopus: 2Function Generation Synthesis of Planar Slider-Crank Linkages for Given 3 Positions and a Dead-Center Position(Springer Verlag, 2020) Kiper, Gokhan; Gorgulu, Ibrahimcan; Kucukoglu, Sefa FurkanFunction generation for finitely many positions and dead-center design problems are generally separately handled in the literature. This paper presents a mixed formulation for planar slider-crank linkages where three precision points and a folded or extended dead-center position are to be satisfied. The formulation results in an 8th degree univariate. Examples show that generally there are four real solutions, only two of which result in distinct solutions.Conference Object Kinematic Synthesis of Planar 4-Bar Path Generators for Finite Line Positions(Springer Verlag, 2019) Kiper, Gökhan; Söylemez, EresAlthough the kinematic synthesis of planar function, point-path and motion gen-erators are vastly studied in the literature, surprisingly synthesis of line-path gen-erators is not formulized in detail. This study presents the formulization of the planar 4-bar line-path generator synthesis problem for up to 5 homologous posi-tions. Numerical examples for 3 and 4 line positions are presented for the illustra-tion of the formulations.Conference Object Citation - Scopus: 4Static Force Balancing of a 2r1t Parallel Manipulator With Remote Center of Motion(Springer Verlag, 2019) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can; Van der Wijk, VolkertAssistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respec-tive planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not consid-ered as an option due to constructional complexity. A hybrid solution as a combi-nation of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formula-tions are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.Conference Object Citation - Scopus: 2Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot(Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet CanIndoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.Conference Object Kinematic Analysis Validation and Calibration of a Haptic Interface(Springer Verlag, 2014) Dede, Mehmet İsmet Can; Taner, Barış; Bilgincan, Tunç; Ceccarelli, MarcoInitial calibration tests of a novel hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism is presented in this paper. Experimental validation of the kinematics along with the experimental test set-up description is provided for the manufactured R-CUBE mechanism.Conference Object Citation - Scopus: 11Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications(Springer Verlag, 2018) Yaşır, Abdullah; Kiper, GökhanAssistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform.Conference Object Citation - WoS: 6Citation - Scopus: 3A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator(Springer Verlag, 2018) Tetik, Halil; Kiper, GökhanIdentifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.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.Conference Object Design of a Cable-Driven Four-Bar Mechanism for Arm Rehabilitation(Springer Verlag, 2017) Eraz, Talha; Kiper, GokhanThis paper presents the design of an assistive mechanism to be used for the rehabilitation of human arm. First the motions of two types of rehabilitation exercises are described. The motions are planar motions, so a planar four bar mechanism is designed. The synthesis problem is formulated as a three-position synthesis problem. Next, the actuation issue is addressed. Actuation via cables is preferred for better force transmission. The connection point of the cable to the mechanism is optimized considering the curvature of the coupler point curve. Finally, multiple pulleys are designed for enhancing force transmission.Conference Object Path Generation Synthesis of Planar Double-Slider Linkages Via the Elliptic Coupler Curve(Springer Verlag, 2017) Kiper, Gokhan; Akbalcik, Almina; Sen, Zehra BetulThe path generation synthesis of a double-slider linkage is performed for a given elliptic curve. It is shown that there are infinity(2) linkages that can trace the same ellipse. The formulation for obtaining all such linkages is presented. The formulation sheds light for the design of the planar slider-crank and four-bar linkages from the given algebraic form of the coupler path curve as well.