Mechanical Engineering / Makina Mühendisliği

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

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Access Right: Open AccessSubject: search.filters.subject.Hybrid mechanisms

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  • Article
    Analytical Dynamic Analysis of a Kinesthetic Haptic Device
    (Dokuz Eylül Üniversitesi, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ceccarelli, Marco
    A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate point-type contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    Development of an R-Cube Based General Purpose Haptic Device System
    (American Society of Mechanical Engineers, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet Can
    A novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original configuration of the R-CUBE mechanism was investigated. In this work, the original design of R-CUBE is reconfigured as a haptic mechanism and the final mechanism is reoriented in order to equally distribute the gravitational effects to all grounded actuators. Rotational motions of the end-effector are monitored through the 3-DoF orientation mechanism placed on the moving platform of the parallel platform. The design of this haptic device is suitable to reflect forces in translational motions, thus point-type of contact is available for this system. The designed device is manufactured utilizing various types of manufacturing processes, such as wire erosion, laser cutting, milling and turning. Finally manufactured mechanism is integrated with electromechanical components and tested for manipulability.
  • Conference Object
    Citation - Scopus: 3
    Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines
    (Springer Verlag, 2018) Demirel, Murat; Carbone, Giuseppe; Ceccarelli, Marco; Kiper, Gökhan
    This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.