Mechanical Engineering / Makina Mühendisliği

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

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  • Conference Object
    Tıbbi Uygulamalar için Özgün Yapılı Haptik Cihaz Tasarımı
    (Institute of Electrical and Electronics Engineers Inc., 2009) Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkın; Dede, Mehmet İsmet Can
    Robotik sistemler hassasiyet gerektiren işlerde gün geçtilçe günlük hayatımızın bir parçası olmaya başladı. Bu işler genellikle herhangi bir operatör tarafından yapılamayacak kadar hassasiyet gerektiren işler olduğundan dolayı robotik teknolojiye ihtiyaç vardır. Bir robotik alanı olan Haptik teknolojisi, operatör ile çevrenin etkileşimini kuvvet geri beslemesi ile sağlayarak uygulamanın hassasiyet seviyesini arttırmaktadır. Bugünkü haliyle haptik teknoloji tıbbi operasyonlarda yardımcı sistem olarak ve birçok uzaktan kumandalı operasyonlarında (teleoperasyon) kullanılmaktadır. Aynı zamanda haptik teknoloji askeri ve tıbbi eğitim amaçlı sanal gerçeklik programlarında kullanılmaktadır. Bu çalışmanın amacı sistemin hassasiyetini arttırabilecek yapısal olarak yeni bir haptik cihaz tasarlamaktır. Bu kapsamda, önceden gerçekleştirilmiş robot tasarımları araştırıldı ve kavramsal tasarımlar gelistirildi. Sonuç olarak seçilen tasarım sanal ortam da oluşturuldu ve simülasyonu yapıldı, ve ilk prototipi imal edildi
  • Conference Object
    Integration of the Hybrid-Structure Haptic Interface: Hiphad V1.0
    (Curran Associates, 2010) Bilgincan, Tunç; Gezgin, Erkin; Dede, Mehmet İsmet Can
    Design, manufacturing, integration and initial test results of the 6-DoF haptic interface, HIPHAD v1.0, are presented in this paper. The hybrid haptic robot mechanism is composed of a 3-DoF parallel platform manipulator, R-Cube, for translational motions and a 3-DoF serial wrist mechanism for monitoring the rotational motions of the handle. The device is capable of displaying point-type of contact since only the R-Cube mechanism is actuated. The dimensions and the orientation of the R-Cube mechanism are reconfigured to comply with the requirements of the haptic system design criteria. The system has several advantages such as relatively trivial kinematical analysis, compactness and high stiffness. The integration of the system along with its mechanism, data acquisition card (DAQ), motor drivers, motors, position sensors, and computer control interface are outlined.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    Development of an R-Cube Based General Purpose Haptic Device System
    (American Society of Mechanical Engineers, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet Can
    A novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original configuration of the R-CUBE mechanism was investigated. In this work, the original design of R-CUBE is reconfigured as a haptic mechanism and the final mechanism is reoriented in order to equally distribute the gravitational effects to all grounded actuators. Rotational motions of the end-effector are monitored through the 3-DoF orientation mechanism placed on the moving platform of the parallel platform. The design of this haptic device is suitable to reflect forces in translational motions, thus point-type of contact is available for this system. The designed device is manufactured utilizing various types of manufacturing processes, such as wire erosion, laser cutting, milling and turning. Finally manufactured mechanism is integrated with electromechanical components and tested for manipulability.
  • Conference Object
    Kinematic Analysis Validation and Calibration of a Haptic Interface
    (Springer Verlag, 2014) Dede, Mehmet İsmet Can; Taner, Barış; Bilgincan, Tunç; Ceccarelli, Marco
    Initial calibration tests of a novel hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism is presented in this paper. Experimental validation of the kinematics along with the experimental test set-up description is provided for the manufactured R-CUBE mechanism.
  • Conference Object
    Citation - WoS: 9
    Citation - Scopus: 13
    Design of a Haptic Device for Teleoperation and Virtual Reality Systems
    (Institute of Electrical and Electronics Engineers Inc., 2009) Dede, Mehmet İsmet Can; Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkın
    Haptics technology has increased the precision and telepresence of the teleoperation and precision of the in-house robotic applications by force and surface information feedback. Force feedback is achieved through sending back the pressure and force information via a haptic device as the information is created or measured at the point of interest. In order to configure such a system, design, analysis and production processes of a haptic device, which is suitable for that specific application, becomes important. Today, haptic devices find use in assistive surgical robotics and most of the teleoperation systems. These devices are also extensively utilized in simulators to train medical and military personnel. The objective of this work is to design a haptic device with a new structure that has the potential to increase the precision of the robotic operation. Thus, literature is reviewed and possible robot manipulator designs are investigated to increase the precision in haptics applications. As a result of the investigations, conceptual designs are developed. Ultimately, final design is selected and produced after it is investigated in computer-aided- design (CAD) environment and its kinematic and structural analyses are carried out.