Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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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, GökhanBu 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, GökhanThis 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 A macro-micro mechanism design for laser cutting process(MATIMAREN, 2016) Dede, Mehmet İsmet Can; Kiper, Gökhan; Uzunoğlu, EmreThis paper is organized to provide the novel approaches during the design of a machine to shorten the laser cutting process. Macro-micro manipulation concept is employed for the design of this machine both in the mechanical design and in devising the trajectory planning algorithm. Micro-mechanism design along with its calibration process are also explained since they involve novel approaches in this application domain. Trajectory planning algorithms, which are developed in this work, are discussed based on their applicability to CNC system architecture. Finally, experimental results based on a benchmark workpiece are given and the system design is discussed with respect to these results.Article Citation - WoS: 11Citation - Scopus: 16Trajectory Planning for a Planar Macro-Micro Manipulator of a Laser-Cutting Machine(Emerald Group Publishing Ltd., 2016) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, GökhanPurpose-In the industry, there is always a demand to shorten the task completion durations to maximize the efficiency of the operation. This work focuses on making use of a special type of kinematic redundancy, macro-micro manipulation, to minimize the task completion duration. The purpose of this paper is to develop the most convenient trajectory planner to be integrated with industrial computerized numerical control (CNC) systems to resolve kinematic redundancy for task duration minimization. Design/methodology/approach-A special type of kinematic redundancy is devised by using two kinematically different mechanisms that have different advantages, which are named as macro and micro mechanisms. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. A new trajectory planning algorithm is designed and used for the constructed planar laser-cutting machine, and some benchmark pieces are cut. Findings-Offline method has practical limitations for employment in a real case scenario such as assuming infinite jerk limits for each axis motion. This limitation was removed by using an online trajectory generation technique. Experimental test results indicate that the online trajectory planning technique developed for the macro-micro mechanism to shorten the task duration was successful. Practical implications-Although the new trajectory planning algorithm is implemented for a laser-cutting machine, it can also be used for other manufacturing systems that require higher acceleration and accuracy levels than the conventional machines. The new algorithm is compatible with the commercially available CNC systems. Originality/value-In this work, a new approach to reducing the task duration for planar machining operations was introduced by making use of macro-micro manipulation concept. The core novelty of the work is devising trajectory planning algorithms to get the most efficiency in terms of acceleration limits from a macro-micro manipulation while making these algorithms deployable to most of the CNC systems.Conference Object Citation - Scopus: 1Trajectory Planning for a Redundant Planar Laser-Cutting Machine With Macro-Micro Manipulation(IFToMM, 2015) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, GökhanKinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised by using kinematically different two mechanisms with different advantages. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. In this work, a macro mechanism with larger workspace is used along with a micro mechanism that has higher dynamics and lower inertia. A trajectory planning algorithm integrated with the control structure making use of the previously defined advantages of both mechanisms is explained in this paper. A case study is provided to validate the developed algorithm.Conference Object Bakışımsız Bir Düzlemsel 5r Eyleyicisinin Bağlama Açına Göre Tasarımı(Makina Teorisi Derneği, 2015) Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Mastar, Ercanİki serbestlik dereceli düzlemsel 5R (R: döner mafsal) mekanizmasının uç noktasının işlevsel çalışma alanına göre mekanizma tasarımı çok farklı başarım ölçütlerine göre yapılabilmektedir. Bu çalışmada uç noktasının yerleşimi nedeni ile kinematik yapısı ve çalışma alanı bakışımsız olan bir 5R mekanizmasının bağlama açısının dik açıya yakın tutulması ölçütü uyarınca işlevsel çalışma alanının tespiti ve de istenilen çalışma alanına boyutuna göre uzuv boyutlarının seçimi ele alınmıştır. Mekanizmanın çalışma alanının tespiti için gerekli kinematik model oluşturulmuş, bağlama açısına göre işlevsel çalışma alanı tespiti irdelenmiş, çalışma alanına gör uzuv boyutlarının belirlenmesi açıklanmış ve de bağlama açısının kuvvet iletimine etkisi tartışılmıştır.Conference Object Kinematik Olarak Artıksıl Düzlemsel Lazer Kesme Makinaları Üzerine(Atatürk Üniversitesi, 2013) Dede, Mehmet İsmet Can; Gezgin, Erkin; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, Tayfun; Uzunoğlu, EmreAlışılagelmiş düzlemsel lazer kesme tezgahları XY düzleminde hareket için X ve Y doğrultularında doğrusal kızaklar üstünde eylemi gerçekleştirirken yüksek atalet kuvvetleri etkisi ile hassasiyet kaybı meydana geldiği için yüksek ivmelere çıkamamaktadır. Son yıllarda bazı yurt dışı bazlı firmalar geleneksel düzlemsel lazer kesme tezgahlarına fazladan eyleyici sistem ekleyerek kinematik olarak artıksıl hibrit mekanizmalar oluşturmuş ve kesici kafa için yüksek ivme seviyelerine çıkabilmişlerdir. Bu çalışmada geçmiş çalışmalarda ve piyasada bulunan yüksek ivmeli lazer kesim makinaları incelenmiştir. Lazer kesim makinalarında kullanılabilecek farklı mekanizmalar, bunların birleşimleriyle hibrit makina oluşturulması ve hassasiyet arttırıcı önlemler bildiri kapsamında irdelenmiştir. Makinanın işi en kısa sürede bitirmesi için eyleyici hareketlerini eniyileyecek kinematik olarak artıksıl robot denetleyicileri de bu çalışma kapsamında araştırılmıştır.Book Part Citation - Scopus: 4Derivation of Input/Output Relationships for the Bennett 6r Linkages Based on the Method of Decomposition(Springer, 2014) Alizade, Rasim; Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, EmreThe Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing one of the common links. This paper presents the derivation of the input/output relationships for these mechanisms using the decomposition method. This method is based on writing the input/output equations for the two imaginary loops comprising the 6R mechanism and then eliminating the imaginary joint variable. It is found that the resulting input/output equations con-tain up to 4th power of trigonometric terms, such as cos4 θ.Conference Object Citation - Scopus: 3Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration(Springer, 2014) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, TayfunIn the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for planar tasks by in-troducing kinematic redundancy. An example setting of a redundant planar mech-anism is considered and an algorithm developed for resolving redundancy order to minimize task completion duration is discussed based on this mechanism.Conference Object Design and Analysis of a Parallel Mechanism for Kinematically Redundant Hybrid Planar Laser Cutting Machine(2014) Dede, Mehmet İsmet Can; Gezgin, Erkin; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, Tayfun; Uzunoğlu, EmreConventional planar laser cutting machines cannot achieve high accelerations, because the required precision values cannot be achieved due to the high inertial loads. Machines configured as kinematically redundant mechanisms are able to reach 5-6 g acceleration levels since they include a parallel mechanism with a smaller workspace which is exposed to smaller inertial loads. The study presented in this paper focuses on the design of a parallel planar mechanism to be integrated to the main axes of conventional planar laser cutting machines to achieve higher accelerations of the laser head up to 6 g. Parallel mechanism’s conceptual design and dynamic balancing studies are provided along with the joint clearance effect on precision due to having more joint structures.