Mechanical Engineering / Makina Mühendisliği

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

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Author: search.filters.author.Maaroof, Omar Waleed Najm

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Now showing 1 - 6 of 6
  • Article
    Citation - WoS: 8
    Citation - Scopus: 14
    Partial Gravity Compensation of a Surgical Robot
    (SAGE Publications Inc., 2021) Maaroof, Omar Waleed Najm; Saeed, Saad Zaghlul; Dede, Mehmet İsmet Can
    Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators. © The Author(s) 2021.
  • 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
    Experimental Verification of Quasi-Static Equilibrium Analysis of a Haptic Device
    (Azerbaijan Committee of International Federation, 2017) Görgülü, İbrahimcan; Maaroof, Omar Waleed Najm; Taner, Barış; Dede, Mehmet İsmet Can; Ceccarelli, Marco
    HIPHAD v1.0 is a kinesthetic haptic device which was designed and manufactured in IzTech Robotics Laboratory. In this work, the quasi-static equilibrium analysis is carried out by including the gravitational effects. The calculations are verified through an experimental procedure and the results are presented to characterize the device performance.
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 4
    Unilateral Teleoperation Design for a Robotic Endoscopic Pituitary Surgery System
    (Springer, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin
    The aim of this study is to develop a teleoperation system which will be used to support the endoscopic pituitary surgery procedures. The proposed system aims to enable the surgeon to operate with three different operation tools (one of them is the endoscope) simultaneously. By this way, it is expected that the productivity of the surgical operation will be improved and the duration of the operation will be shortened. In the proposed system, a main control unit that can be attached to any of the surgical tools that are used in the operation (other than the endoscope) will be developed to capture the motion of the surgeon’s hand motion as demanded by the surgeon, to process the captured motion and to send it to the robot that handles the endoscope. In this way, the endoscope will be directed simultaneously by the surgeon throughout the operation while he/she is using the other surgical tools with his/her two hands. In this paper, the study to determine the type and processing of information that is sent from the surgeon’s side to the endoscope robot is presented.
  • Book Part
    Citation - WoS: 3
    Citation - Scopus: 5
    Physical Human-Robot Interaction: Increasing Safety by Robot Arm’s Posture Optimization
    (Springer, 2016) Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can
    To have robot manipulators working alongside with humans is a necessity in service robots. Obviously, in these robotics applications, human safety has precedence over precision and repeatability, which are the most important qualification of the conventional industrial manipulators. The safety measures can be taken either in the hardware or in the software or in both. This work by using a redundant manipulator aims at providing a safety measure through controlling the self-motion of the manipulator. The self-motion of the manipulator is controlled to change the posture of the manipulator to minimize or maximize the forces it can exert along a given direction. In this way, by knowing the location of the human or a delicate piece that it should not harm, manipulator’s posture is optimized to exert the minimum amount of forces during an unexpected collision. The control algorithm for this objective is described in this paper and it is evaluated through simulation tests on a redundant lightweight robot manipulator.
  • Conference Object
    Citation - Scopus: 2
    A Comparative Study on Application of Decomposition Method in Function Generation Synthesis of Over-Constrained Mechanisms
    (Springer, 2014) Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can
    Double-spherical six-bar linkage is one of the Bennett over-constrained 6R linkages. Kinematic synthesis of such linkages can be tedious and impossible to solve for analytically. In order to cope with higher number of unknowns in these types of linkages, decomposition method is a valuable tool. This paper focuses on the function generation synthesis of double-spherical six-bar linkage. Two procedures for applying decomposition method are explained. Two numerical studies are conducted for both procedures to evaluate the performance of each procedure.