Mechanical Engineering / Makina Mühendisliği

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

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COAR Access Rights: search.filters.coarAccessRights.open accessSubject: search.filters.subject.Redundancy resolution

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Now showing 1 - 4 of 4
  • Article
    Citation - WoS: 10
    Citation - Scopus: 12
    A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique
    (MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, Levent
    Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.
  • Article
    Citation - WoS: 11
    Citation - Scopus: 16
    Trajectory Planning for a Planar Macro-Micro Manipulator of a Laser-Cutting Machine
    (Emerald Group Publishing Ltd., 2016) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan
    Purpose-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: 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.
  • 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.