Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
Browse
3 results
Search Results
Now showing 1 - 3 of 3
Article Citation - WoS: 10Citation - Scopus: 12A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique(MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, LeventRedundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.Article Citation - WoS: 7Citation - Scopus: 7Exact Solution and Dynamic Buckling Analysis of a Beam-Column System Having the Elliptic Type Loading(Springer Verlag, 2010) Artem, Hatice Seçil; Aydın, LeventThis paper presents a closed form solution to the dynamic stability problem of a beam-column system with hinged ends loaded by an axial periodically time-varying compressive force of an elliptic type, i.e., a 1cn 2(τ, k 2) + a 2sn2(τ, k 2) + a 3dn2(τ, k 2). The solution to the governing equation is obtained in the form of Fourier sine series. The resulting ordinary differential equation is solved analytically. Finding the exact analytical solutions to the dynamic buckling problems is difficult. However, the availability of exact solutions can provide adequate understanding for the physical characteristics of the system. In this study, the frequency-response characteristics of the system, the effects of the static load, the driving forces, and the frequency ratio on the critical buckling load are also investigated. © 2010 Shanghai University and Springer-Verlag Berlin Heidelberg.Article Citation - WoS: 5Citation - Scopus: 7Axisymmetric Crack Problem of Thick-Walled Cylinder With Loadings on Crack Surfaces(Elsevier Ltd., 2008) Aydın, Levent; Artem, Hatice SeçilThis study is concerned with the fracture of an infinite thick-walled cylinder. The inner surface of the cylinder is stress free and the outer is rigidly fixed. The cylinder having a ring-shaped crack located at the symmetry plane is subjected to distributed compressive load on its surfaces. The Hankel and Fourier transform techniques are used for the solution of the field equations. By applying the boundary conditions, the singular integral equation in terms of crack surface displacement derivative is derived. By using an appropriate quadrature formula, the integral equation is reduced to a system of linear algebraic equations. Numerical results are obtained for the stress intensity factors at the edges of the crack, surfaces of which are subjected to uniform, linear and parabolic load distributions.