Mechanical Engineering / Makina Mühendisliği

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

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Subject: search.filters.subject.Kinematic redundancy

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  • Conference Object
    Citation - Scopus: 2
    Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot
    (Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of Engineering
    Indoor 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
    A macro-micro mechanism design for laser cutting process
    (MATIMAREN, 2016) Dede, Mehmet İsmet Can; Kiper, Gökhan; Dede, Mehmet İsmet Can; Kiper, Gökhan; Uzunoğlu, Emre; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    This 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.