Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Paksoy, Erkan; Dede, Mehmet Ismet Can; Kiper, GokhanFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.Article Citation - WoS: 9Citation - Scopus: 10The Design and Kinematic Representation of a Soft Robot in a Simulation Environment(Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet CanThe increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.Article Citation - WoS: 2Citation - Scopus: 3Design and Manufacturing of a Hip Joint Motion Simulator With a Novel Modular Design Approach(Springer, 2023) Torabnia, Shams; Mihçin, Şenay; Lazoğlu, İsmailThe study is aimed to develop a hip joint wear simulator using a modular design approach to help experimentally monitor and control critical wear parameters to validate in-silico wear models. The proper control and application of wear parameters such as the range of motion, and the applied force values while estimating the lost material due to wear are essential for thorough analysis of wear phenomena for artificial joints. The simulator's dynamics were first modeled, then dynamic loading data was used to calculate the forces, which were further used for topology optimization to reduce the forces acting on each joint. The reduction of the link weights, connected to the actuators, intends to improve the quality of motion transferred to the femoral head. The modular design approach enables topology-optimized geometry, associated gravitational and dynamic forces, resulting in a cost-effective, energy-efficient product. Moreover, this design allows integration of the subject specific data by allowing different boundary conditions following the requirements of industry 5.0. Overall, the in-vitro motion stimulations of the hip-joint prosthesis and the modular design approach used in the study might help improve the accuracy and the effectiveness of wear simulations, which could lead into the development of better and longer-lasting joint prostheses for all. The subject-specific and society-based daily life data implemented as boundary conditions enable inclusion of the personalized effects. Next, with the results of the simulator, CEN Workshop Agreement (CWA) application is intended to cover the personalized effects for previously excluded populations, providing solution to inclusive design for all.Article Yüksek Derecede Kurum Üreten 2b Gazyağı/hava Difüzyon Alevleri Üzerinde Diferansiyel Yayılımın ve Basıncın Etkileri(Gazi Üniversitesi, 2024) Korucu, Ayşe; Miller, RichardBu çalısmada, dört farklı ortam basıncında kurum, oluşum ve yıkım süreçlerini incelemek amacıyla, yoğun kurum üreten Gazyağı/Hava alevleri, gerçek gaz (GG) ve ideal gaz (İG) hal denklemleri ve Lewis (Le) sayısının bir olarak kabul edildiği modeller ele alınmıştır. Yarı-genel kurum oluşum ve yıkım modelini içeren indirgenmiş Gazyağı/Hava mekanizması (29-adım, 10 çeşit gaz) 2 boyutlu (2B) Direk Sayısal Simülasyon (DNS) verilerini oluşturmak için MPI FORTRAN ile kodu yazılmış bir program kullanılmıştır. Le sayısının bire eşit kabul edildiği alev tahminlerinin, Le sayısının bire eşit olmadığı (genelleştirilmiş difüzyon) durumların sayısal sonuçlarından elde edilen alev yapısı ve kurum özelliklerinin istatiksel olarak benzerlik sağlayıp sağlamadığı araştırılmıştır. Bu bağlamda yapılan çalışmanın sonucunda, ortam basınçları 1, 5, 10 ve 35 atm olan Le sayısının bir olarak kabul edildiği GGLE ve İGLE modelleri ile üretilmiş 2B DNS alev tahminlerinin kurum özelliklerinin ve alev yapılarının yanlış hesaplanmasına yol açtığı belirlenmiştir.Article Citation - WoS: 15Citation - Scopus: 17Effects of Nanosecond Laser Ablation Parameters on Surface Modification of Carbon Fiber Reinforced Polymer Composites(SAGE Publications, 2023) Martin, Seçkin; İplikçi, Hande; Barışık, Murat; Türkdoğan, Ceren; Yeke, Melisa; Nuhoğlu, Kaan; Esenoğlu, Gözde; Tanoğlu, Metin; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemRemoval of contaminants and top polymer layer from the surface of carbon-fiber-reinforced polymer (CFRP) composites is critical for high-quality adhesive-joining with direct bonding to the reinforcing fiber constituents. Surface treatment with a laser beam provides selective removal of the polymer matrix without damaging the fibers and increasing the wettability. However, inhomogeneous thermal properties of CFRP make control of laser ablation difficult as the laser energy absorbed by the carbon fibers is converted into heat and transmitted through the fiber structures during the laser operation. In this study, the effect of scanning speed and laser power on nanosecond laser surface treatment was characterized by scanning electron microscope images and wetting angle measurements. Low scanning speeds allowed laser energy to be conducted as thermal energy through the fibers, which resulted in less epoxy matrix removal and substantial thermal damage. Low laser power partially degraded the epoxy the surface while the high power damaged the carbon fibers. For the studied CFRP specimens consisting of unidirectional [45/0/?45/90]2s stacking of carbon/epoxy prepregs (HexPly®-M91), 100 mJ/mm2 generated by 10 m/s scanning speed and 30 W power appeared as optimum processing parameters for the complete removal of epoxy matrix from the top surface with mostly undamaged carbon fibers and super hydrophilic surface condition. © The Author(s) 2023.Article Citation - WoS: 1Citation - Scopus: 1Epoxy Matrix Nano Composites: Modulus, Strength and Ductility Enhancement Through Auxeticity of Α-Cristobalite Filler(Elsevier, 2023) Güden, Mustafa; Ülker, Sevkan; Movahedi, NimaThe negative Poisson's ratio (NPR) nano-size ?-Cristobalite particle/epoxy composites were prepared and tensile tested. The elastic modulus and strength of the composites were improved as the particle volume fraction increased from 0 to 0.02. Unlike the conventional particle reinforced composites, the fracture strain increased with the nano ?-Cristobalite addition, an effect which was ascribed to the intrinsic NPR behavior of the filler. © 2023 Elsevier B.V.Article Citation - WoS: 8Citation - Scopus: 9Dynamic Computational Wear Model of Peek-On Bearing Couple in Total Hip Replacements(Elsevier, 2023) Alpkaya, Alican Tuncay; Mihçin, ŞenayUnderstanding wear mechanisms is a key factor to prevent primary failures causing revision surgery in total hip replacement (THR) applications. This study introduces a wear prediction model of (Polyetheretherketone) PEEK-on-XLPE (cross-linked polyethylene) bearing couple utilized to investigate the wear mechanism under 3D-gait cycle loading over 5 million cycles (Mc). A 32-mm PEEK femoral head and 4-mm thick XLPE bearing liner with a 3-mm PEEK shell are modeled in a 3D explicit finite element modeling (FEM) program. The volumetric and linear wear rates of XLPE liner per every million cycles were predicted as 1.965 mm3/Mc, and 0.0032 mm/Mc respectively. These results are consistent with the literature. PEEK-on-XLPE bearing couple exhibits a promising wear performance used in THR application. The wear pattern evolution of the model is similar to that of conventional polyethylene liners. Therefore, PEEK could be proposed as an alternative material to the CoCr head, especially used in XLPE-bearing couples. The wear prediction model could be utilized to improve the design parameters with the aim of prolonging the life span of hip implants. © 2023Article Citation - WoS: 15Citation - Scopus: 15The Effect of Strain Rate on the Compression Behavior of Additively Manufactured Short Carbon Fiber-Reinforced Polyamide Composites With Different Layer Heights, Infill Patterns, and Built Angles(Springer, 2023) Zeybek, Mehmet Kaan; Güden, Mustafa; Taşdemirci, AlperPrevious studies on the fused deposition modelling (FDM) processed short carbon fiber/Polyamide 6 (PA6) matrix composites and neat PA6 have mostly concentrated on the quasi-static mechanical properties. Present study focused on the strain rate-dependent deformation behavior of a short carbon fiber-reinforced PA6 (Onyx) and neat PA6, produced in different layer heights, infill patterns and built angles. As compared with PA6, Onyx showed a higher compression stress at all strain rates investigated. A layer height of 0.2 mm in PA6 specimens promoted a better bonding between [0/90°] infill layers; hence, a higher flow stress than 0.2 mm layer height specimens, while 0.2 mm layer height induced a higher porosity in Onyx specimens, leading to a lower flow stress. The porosities in Onyx [0/90°] infill specimens were due to the constraining effect of 0/90° fiber layers. Changing infill pattern from a [0/90°] to a concentric one decreased porosity at the same layer height and hence increased the compressive flow stress. The highest compressive strength was found in the specimens with the loading axis 90 and 0° to [0/90°] infill plane. The lowest strength was, however, determined in the specimens with the loading axis 30 and 60o to [0/90°] infill plane in quasi-static loading. However, the specimens with the loading axis of 60, 45, 30 and 0° exhibited a brittle behavior in high strain rate loading (1500 s−1). The specimens with the loading axis of 45° had the lowest fracture stress and strain in the high strain rate loading. This signified the importance of loading angle at high strain rates. Finally, the rate sensitivities of PA6 and Onyx specimens were shown to be similar, showing a matrix dominated deformation. However, the strain rate jump tests indicated a slightly higher rate sensitivity of Onyx specimens at quasi-static strain rates (10−3-10−1 s−1).Article Citation - WoS: 5Citation - Scopus: 4Design of a Novel Hybrid Cable-Constrained Parallel Leg Mechanism for Biped Walking Machines(Cambridge University Press, 2023) Demirel, M.; Kiper, G.; Carbone, G.; Ceccarelli, M.In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines. © The Author(s), 2023.Article Citation - WoS: 8Citation - Scopus: 8Improving Adhesive Behavior of Fiber Reinforced Composites by Incorporating Electrospun Polyamide-6,6 Nanofibers in Joining Region(SAGE Publications, 2022) Esenoğlu, Gözde; Barışık, Murat; Tanoğlu, Metin; Yeke, Melisa; Türkdoğan, Ceren; İplikçi, Hande; Martin, Seçkin; Nuhoğlu, Kaan; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemAdhesive joining of fiber reinforced polymer (CFRP) composite components is demanded in various industrial applications. However, the joining locations frequently suffer from adhesive bond failure between adhesive and adherent. The aim of the present study is improving bonding behavior of adhesive joints by electrospun nanofiber coatings on the prepreg surfaces that have been used for composite manufacturing. Secondary bonding of woven and unidirectional CFRP parts was selected since this configuration is preferred commonly in aerospace practices. The optimum nanofiber coating with a low average fiber diameter and areal weight density is succeed by studying various solution concentrations and spinning durations of the polyamide-6.6 (PA 66) electrospinning. We obtained homogeneous and beadles nanofiber productions. As a result, an average diameter of 36.50 +/- 12 nm electrospun nanofibers were obtained and coated onto the prepreg surfaces. Prepreg systems with/without PA 66 nanofibers were hot pressed to fabricate the CFRP composite laminates. The single-lap shear test coupons were prepared from the fabricated laminates to examine the effects of PA 66 nanofibers on the mechanical properties of the joint region of the composites. The single-lap shear test results showed that the bonding strength is improved by about 40% with minimal adhesive use due to the presence of the electrospun nanofibers within the joint region. The optical and SEM images of fractured surfaces showed that nanofiber-coated joints exhibited a coherent failure while the bare surfaces underwent adhesive failure. The PA66 nanofibers created better coupling between the adhesive and the composite surface by increasing the surface area and roughness. As a result, electrospun nanofibers turned adhesive failure into cohesive and enhanced the adhesion performance composite joints substantially.