Mechanical Engineering / Makina Mühendisliği

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

Browse

Filters

2014 - 20182

Settings

Author: search.filters.author.Ceccarelli, MarcoPublisher: search.filters.publisher.Springer Verlag

Search Results

Now showing 1 - 2 of 2
  • 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.
  • Conference Object
    Kinematic Analysis Validation and Calibration of a Haptic Interface
    (Springer Verlag, 2014) Dede, Mehmet İsmet Can; Taner, Barış; Bilgincan, Tunç; Ceccarelli, Marco
    Initial calibration tests of a novel hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism is presented in this paper. Experimental validation of the kinematics along with the experimental test set-up description is provided for the manufactured R-CUBE mechanism.