Mechanical Engineering / Makina Mühendisliği

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

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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
    A macro-micro mechanism design for laser cutting process
    (MATIMAREN, 2016) Dede, Mehmet İsmet Can; Kiper, Gökhan; Uzunoğlu, Emre
    This 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.
  • 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
    Citation - Scopus: 1
    Trajectory Planning for a Redundant Planar Laser-Cutting Machine With Macro-Micro Manipulation
    (IFToMM, 2015) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan
    Kinematic 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.
  • Book Part
    Citation - Scopus: 4
    Derivation 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, Emre
    The 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: 3
    Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration
    (Springer, 2014) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, Tayfun
    In 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, Emre
    Conventional 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.
  • Conference Object
    Aşırı Kısıtlı Bir Mekanizmanın Kalibrasyonunda Saklı Robot Kavramının Uygulanması
    (Orta Doğu Teknik Üniversitesi, 2014) Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Mastar, Ercan; Sığırtmaç, Tayfun
    Aşırı kısıtlı mekanizmaların sağladığı direngenlik, hafif yapı gerektiren ve bunun yanında yüksek seviyede kuvvetlere maruz kalınan uygulamalarda yüksek hassasiyet değerlerine ulaşmak için tercih edilebilmektedir. Yapılan çalışmada yüksek ivme değerlerine (>5g) çıkabilecek şekilde kollarında paralelkenar devreler ile desteklendiği için aşırı kısıtlı olan, 2 serbestlik dereceli, düzlemsel bir 6-kol mekanizması tasarlanmış ve üretilmiştir. Geliştirilen sistemin hassasiyet ve tekrarlanabilirlik testleri öncesi kalibrasyonu yapılması için düz ve ters kinematik çözümlerinin parametrelerinin düzenlenmesi gerekmiştir. Mekanizmanın karmaşıklığı nedeni ile analitik ters kinematik çözümü mevcut değildir. Bu durumla başa çıkmak için saklı robot yöntemi adı ile literatürde yer bulan yöntem kullanılmıştır. Bu bildiride saklı robot yöntemi kullanılarak gerçekleştirilen kalibrasyon prosedürü anlatılmıştır.