Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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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.Article Citation - WoS: 3Citation - Scopus: 4Function Generation With Two Loop Mechanisms Using Decomposition and Correction Method(Elsevier, 2017) Kiper, Gökhan; Dede, Mehmet İsmet Can; Maaroof, Omar W.; Özkahya, MerveMethod of decomposition has been successfully applied to function generation with multi-loop mechanisms. For a two-loop mechanism, a function y = f(x) can be decomposed into two as w = g(x) and y = h(w) = h(g(x)) = f(x). This study makes use of the method of decomposition for two-loop mechanisms, where the errors from each loop are forced to match each other. In the first loop, which includes the input of the mechanism, the decomposed function (g) is generated and the resulting structural error is determined. Then, for the second loop, the desired output of the function (f) is considered as an input and the structural error of the decomposed function (g) is determined. By matching the obtained structural errors, the final error in the output of the mechanism is reduced. Three different correction methods are proposed. The first method has three precision points per loop, while the second method has four. In the third method, the extrema of the errors from both loops are matched. The methods are applied to a Watt II type planar six-bar linkage for demonstration. Several numerical examples are worked out and the results are compared with the results in the literature.