Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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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 - Scopus: 2Effects of Earthquake Motion on Mechanism Operation: an Experimental Approach(Levrotto and Bella, 2015) Selvi, Özgün; Ceccarelli, M.; Aytar, Erman BarışThis paper presents an experimental characterization of the effects of earthquakes on the operation of mechanical systems with the help of CaPaMan (Cassino Parallel Manipulator), which is a 3 DOF robot that can fairly well simulate 3D earthquake motion. The sensitivity of operation characteristics of machinery to earthquake disturbance is identified and characterized through experimental tests. Experimental tests have been carried out by using a slider-crank linkage, a small car model, and LARM Hand as test-bed mechanisms that have been sensored with proper acceleration or force sensors. Results are reported and discussed to describe the effects of earthquake motion on the characteristics of mechanism operation as a service application of the robotic CaPaMan system.Conference Object Internship Experience for Learning the Operation of a Cable-Driven Robot for Rehabilitation Tasks(Springer, 2019) Carbone, G.; Cafolla, D.; Ceccarelli, M.; Aydınoğlu, Öndercan; Demirel, MuratThis paper describes an example of internship experience at LARM, Laboratory of Robotics and Mechatronics, at University of Cassino and South Latium. In particular, the main focus of this paper is the learning process as basis of a proper internship. Namely, a specific experiential learning approach is proposed as referring to a low-cost servo motor operation task. The learning task is further defined and developed as referring to a real application with a cable-driven robot for rehabilitation tasks, which has been designed and built at LARM in Cassino and under further investigation within Agewell project.