Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object A macro-micro mechanism design for laser cutting process(MATIMAREN, 2016) Dede, Mehmet İsmet Can; Kiper, Gökhan; Uzunoğlu, EmreThis paper is organized to provide the novel approaches during the design of a machine to shorten the laser cutting process. Macro-micro manipulation concept is employed for the design of this machine both in the mechanical design and in devising the trajectory planning algorithm. Micro-mechanism design along with its calibration process are also explained since they involve novel approaches in this application domain. Trajectory planning algorithms, which are developed in this work, are discussed based on their applicability to CNC system architecture. Finally, experimental results based on a benchmark workpiece are given and the system design is discussed with respect to these results.Conference Object Citation - Scopus: 1Trajectory Planning for a Redundant Planar Laser-Cutting Machine With Macro-Micro Manipulation(IFToMM, 2015) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, GökhanKinematic 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 - Scopus: 3Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration(Springer, 2014) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, TayfunIn the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for planar tasks by in-troducing kinematic redundancy. An example setting of a redundant planar mech-anism is considered and an algorithm developed for resolving redundancy order to minimize task completion duration is discussed based on this mechanism.