Mechanical Engineering / Makina Mühendisliği

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

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  • Conference Object
    Manipulator Design for a Haptic System With Improved Performance
    (Springer, 2021) Sekendiz, Veysel; Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Kiper, Gökhan; Dede, Mehmet İsmet Can
    This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in performance evaluation of haptic devices. In this study, kinematic design optimization, static balancing, constructional design enhancement and actuation system design studies are presented.
  • Conference Object
    Integration of the Hybrid-Structure Haptic Interface: Hiphad V1.0
    (Curran Associates, 2010) Bilgincan, Tunç; Gezgin, Erkin; Dede, Mehmet İsmet Can
    Design, manufacturing, integration and initial test results of the 6-DoF haptic interface, HIPHAD v1.0, are presented in this paper. The hybrid haptic robot mechanism is composed of a 3-DoF parallel platform manipulator, R-Cube, for translational motions and a 3-DoF serial wrist mechanism for monitoring the rotational motions of the handle. The device is capable of displaying point-type of contact since only the R-Cube mechanism is actuated. The dimensions and the orientation of the R-Cube mechanism are reconfigured to comply with the requirements of the haptic system design criteria. The system has several advantages such as relatively trivial kinematical analysis, compactness and high stiffness. The integration of the system along with its mechanism, data acquisition card (DAQ), motor drivers, motors, position sensors, and computer control interface are outlined.