Mechanical Engineering / Makina Mühendisliği

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

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Author: search.filters.author.Taner, Barış

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Now showing 1 - 9 of 9
  • Conference Object
    Yüksek İvmeli Paralel Robotların Konumlama Hassasiyetinin Artırılmasına Yönelik Yöntemlerin Araştırılması
    (Makina Teorisi Derneği, 2019) Uzunoğlu, Emre; Özkahya, Merve; Paksoy, Erhan; Taner, Barış; Dede, Mehmet İsmet Can; Kiper, Gökhan
    Bu çalışmanın temel amacı endüstriyel uygulamalarda giderek sıkılıkla kullanılmaya başlanan yüksek ivmeli çalışan paralel robotların konumlama hassasiyetlerini artırmak üzere yapısal ve denetimsel iyileştirme yöntemlerinin araştırılmasıdır. Çalışma dâhilinde robot sistemlerinin hassasiyetini bozan geometrik olan ve olmayan faktörlerin etkilerinin en aza indirilmesi için yöntemler araştırılmıştır ve önerilmiştir. Bu yöntemler içerisinde geometrik olan faktörlerin tamamı, geometrik olmayan faktörlerden robot manipülatör direngenlikleri ve denetim hataları, ve bunlara ek olarak dengelenmemiş kütlelerden kaynaklanan hatalar konularında yapılan araştırmalar sunulmuştur. Ayrıca yöntemlerin araştırılması, kıyaslama amacı ile aynı işi yapmak üzere iki farklı yapıya sahip normal kısıtlı ve fazla kısıtlı iki mekanizma yapısı bu bildiri dâhilinde sunulmuştur.
  • Conference Object
    Conceptual Design of a 2-Dof Planar High-Speed Industrial Parallel Manipulator
    (Springer, 2019) Uzunoğlu, Emre; Özkahya, Merve; Paksoy, Erkan; Taner, Barış; Dede, Mehmet İsmet Can; Kiper, Gökhan
    This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.
  • 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: 5
    Image Processing Based Stiffness Mapping of a Haptic Device
    (Springer, 2017) Taner, Barış; Dede, Mehmet İsmet Can
    The widely accepted performance criteria of haptic devices, which are transparency and z-width, are affected by the stiffness characteristics of the haptic device’s mechanism. In addition indirect measurement of the handle pose of a haptic device is also affected by the stiffness characteristic. In this study, image processing techniques are used in the experimental setup to develop a stiffness map of a haptic device. The experimentally developed stiffness map is presented and the results are discussed by addressing future works.
  • Conference Object
    Applying Model Mediation Method To a Mobile Robot Bilateral Teleoperation System Experiencing Time Delays in Communication
    (Makina Teorisi Derneği, 2015) Taner, Barış; Dede, Mehmet İsmet Can; Uzunoğlu, Emre
    Teleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces acquired from the slave sub-system is sent to the master to increase the level of tele-presence. In this kind of a setting, data has to be transferred through a communication line in which package losses and time delays occur. Such deficiencies in the communication line results in stability problems in the system. In this paper, HIPHAD desktop haptic device as the master sub-system and an omni-directional mobile robot as the slave subsystem is used to develop an unlimited workspace teleoperation system. The system’s stability and tracking performance under a constant time delay is measured for direct teleoperation and when model mediation method is applied to ensure stability. The results of the tests are given and the conclusions are derived.
  • Conference Object
    A Study on Selecting the Method of Constructing the Information To Be Exchanged in Unlimited-Workspace Bilateral Teleoperation
    (Makina Teorisi Derneği, 2015) Karabulut, Mehmet Görkem; Dede, Mehmet İsmet Can; Taner, Barış
    In this paper, a study on selecting the mapping method for information exchange in unlimitedworkspace teleoperation is presented. In spite the fact that in most of the bilateral teleoperation systems, the master system sends motion demands and receives interaction force from the slave system, the information to be exchanged through the communication line between master and slave is selected to be force in both directions in this study. This approach is expected to ease the navigation of the user when a limited-workspace master system is used to control an unlimited-workspace slave system. As the unlimited-workspace slave system, a virtual flying scalpel is used and human skin is modeled to represent the environment around the slave system. Two methods of constructing force information, or in other words, information mapping between the two systems, are developed and evaluated via user studies. However, one of them comes out to provide acceptable results in the selected unlimited-workspace teleoperation task. Experimental results for the method that provides acceptable results are presented.
  • 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.
  • Article
    Citation - WoS: 1
    Citation - Scopus: 1
    Design and Testing of an Innovative Cleaning Tool for Underwater Applications
    (SAGE Publications, 2016) Gündoğdu, Hilal Tolasa; Dede, Mehmet İsmet Can; Taner, Barış; Ridolfi, Alessandro; Costanzi, Riccardo; Allotta, Benedetto
    The aim of this work is to describe the development of an innovative cleaning tool for underwater applications, to be used in particular in the field of underwater archaeology. This work takes place in the framework of the EU FP7-funded ARROWS project. ARROWS adapts and develops low-cost autonomous underwater vehicle technologies to significantly reduce the costs of underwater archaeological operations, covering the full extent of archaeological campaigns. The project deals with underwater mapping, diagnosis and cleaning tasks. During the first half of the project, a cleaning tool prototype, able to be mounted on underwater vehicles, has been worked out: this cleaning tool will be exploited not only during research missions but also for the periodic monitoring, controlling and maintenance activities of well-known underwater archaeological sites (e.g. periodic cleaning operations).
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 4
    An Innovative Cleaning Tool for Underwater Soft Cleaning Operations
    (Institute of Electrical and Electronics Engineers Inc., 2015) Gündoğdu, Hilal Tolasa; Dede, Mehmet İsmet Can; Taner, Barış; Ridolfi, Alessandro; Costanzi, Riccardo; Allotta, Benedetto
    This work takes place in the framework of the EU FP7 funded ARROWS project. In ARROWS project, low-cost autonomous underwater vehicle technologies are adapted and developed to significantly reduce the costs of underwater archaeological operations, covering the full extent of archaeological campaign. The project aims to deal with underwater mapping, diagnosis and cleaning tasks. This paper, specifically, describes the development of a cleaning tool (CT) to be used in cleaning underwater archaeological sites. This cleaning tool will be exploited not only during research missions, but also for the periodic monitoring, controlling and maintenance activity of well-known underwater archaeological sites (e.g. periodic cleaning operations). In this paper, the design criteria, working principles, the design and the performance tests of the developed CT are explained in details. The performance results are discussed in the final section.