Mechanical Engineering / Makina Mühendisliği

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

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Author: search.filters.author.Yaşır, AbdullahCOAR Access Rights: search.filters.coarAccessRights.open access

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  • Other
    Corrigendum To “kinematic Design of a Non-Parasitic 2r1t Parallel Mechanism With Remote Center of Motion To Be Used in Minimally Invasive Surgery Applications” [mechanism and Machine Theory 153 (2020) 104013] (mechanism and Machine Theory (2020) 153, (s0094114x20302342), (10.1016/J.mechmachtheory.2020.104013))
    (Elsevier, 2021) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can
    The authors regret that one of the affiliation information for Gökhan Kiper is wrong. Dr. Kiper is not affiliated to Delft University of Technology. Dr. Kiper is affiliated to İzmir Institute of Technology. The data administrators of Elsevier and the corresponding author would like to apologise for any inconvenience caused. © 2021 International Federation for the Promotion of Mechanism and Machine Science
  • Article
    Citation - WoS: 31
    Citation - Scopus: 37
    Kinematic Design of a Non-Parasitic 2r1t Parallel Mechanism With Remote Center of Motion To Be Used in Minimally Invasive Surgery Applications
    (Elsevier Ltd., 2020) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can
    In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.
  • Conference Object
    Bir Ameliyat Robotunun Denetimi için Basitleştirilmiş Dinamik Modeli
    (Otomatik Kontrol Türk Milli Komitesi, 2018) Ayit, Orhan; Yaşır, Abdullah; Vardarlı, Eren; Kiper, Gökhan; Dede, Mehmet İsmet Can
    Bu çalışmanın temel konusu minimal invaziv tipi bir ameliyat olan endoskopik hipofiz tümörü ameliyatında kullanılan endoskopun hareket denetimi için geliştirilen robotik sistemdir. Geliştirilen sistemin bu bildiride ele alınan kısmı, ameliyat sırasında sadece ameliyat bölgesi içinde endoskopu cerrahın anlık isteklerine göre yönlendiren, aktif robot yapısıdır. Söz konusu robot uzak hareket merkezli, 3 serbestlik dereceli, paralel kinematik mimariye sahiptir. Bu çalışmada robotun denetimi için uygun görülen hesaplanmış tork yöntemi için gerekli robotun dinamik analizi sunulmaktadır. Denetim algoritmasının yüksek frekansta çalışabilmesi için dinamik denklemlerde yapılan basitleştirmeler ve bunun sonucunda elde edilen hesaplama zamanı sunulmaktadır.
  • Conference Object
    Citation - Scopus: 4
    Static Force Balancing of a 2r1t Parallel Manipulator With Remote Center of Motion
    (Springer Verlag, 2019) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can; Van der Wijk, Volkert
    Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respec-tive planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not consid-ered as an option due to constructional complexity. A hybrid solution as a combi-nation of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formula-tions are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 3
    Reconfigurable deployable umbrella canopies
    (Institute of Electrical and Electronics Engineers Inc., 2018) Jovichikj, R.; Yaşır, Abdullah; Kiper, Gökhan
    The kinematic design of reconfigurable deployable canopy mechanisms with radially distributed limbs are presented in this study. The mechanisms allow a compact form and are reconfigurable with several alternative deployed forms which can be in the form of a tent, a canopy or a form in between. Each limb of the canopy possesses at least two assembly modes which enables reconfigurability. The conditions for deployment and reconfiguration of the mechanism are derived. These conditions impose equality and inequality constraints for the link lengths of the mechanism. A parametric model of the mechanism is constructed in Excel for design and simulation purposes. Solid models and a prototype are presented as examples.
  • Conference Object
    Citation - Scopus: 11
    Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications
    (Springer Verlag, 2018) Yaşır, Abdullah; Kiper, Gökhan
    Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform.
  • Conference Object
    Neuroboscope Sisteminin Model Tabanlı Sınaması
    (Otomatik Kontrol Türk Milli Komitesi, 2016) Uzun, Bengisu; Ayav, Tolga; Dede, Mehmet İsmet Can; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin; Özdemirel, Barbaros; Kiper, Gökhan; Tatlıcıoğlu, Enver; Maaroof, Omar W.; Işıtman, Oğulcan; Ateş, Gizem; Yaşır, Abdullah
    NeuRoboScope projesinde, endoskopik hipofiz cerrahisinde kullanılan optik-kamera sisteminin, cerrahın kullandığı cerrahi aletleri takip ederek yönlendirilmesini amaçlayan emniyet kritik bir sistemin tasarlanması amaçlanmıştır. Bu bildiri, sistem gereksinimleri üzerinden tüm sistemin modellenmesini ve oluşturulan bu modelin sınanmasını ele almaktadır. Böylece, tasarım evresinden önce tasarımın dayanağı olan sistem gereksinimlerinin doğrulanması hedeflenmiştir. Sistem bir zamanlı otomat ağı olarak modellenmiş ve UPPAAL model sınama aracı kullanılarak, sistemin başta emniyet kritik olmak üzere diğer önemli özellikleri sınanmıştır.
  • Conference Object
    Synthesis and Experiments of Inherently Balanced Umbrella Canopy Designs
    (Makina Teorisi Derneği, 2015) Van der Wijk, Volkert; Kiper, Gökhan; Yaşır, Abdullah
    This paper shows how umbrella canopies and umbrella canopy-like mechanisms can be designed inherently balanced. Inherently balanced means that the center of mass of the moving parts remains stationary at a single point for any position of the mechanism simply because of the specific design of the mechanism where no countermasses or springs are needed. The advantages of a balanced canopy are that it can be opened and closed easily with minimal effort even if it has large dimensions and that it is inherently safe since the canvas cannot collapse or fall down. Also a shaking ground or floor does not affect an inherently balanced canopy. This is due to its dynamic force balance, allowing the canopy to be perfectly suitable as a retractable roof on for instance a truck on a bumpy road. In this study, three inherently balanced umbrella canopy designs are synthesized from principal vector linkages and their balance conditions are derived. Also a prototype was built and tested to show the feasibility of the design in practice.