Mechanical Engineering / Makina Mühendisliği

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

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Institution Author: search.filters.institutionAuthor.Görgülü, İbrahimcanSubject: search.filters.subject.Haptic devices

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Now showing 1 - 3 of 3
  • Conference Object
    Citation - Scopus: 1
    Structural Compliance Effects on the Accuracy and Safety of a R-Cube Haptic Device
    (Springer Verlag, 2019) Carbone, Giuseppe; Acinapura, Antonio; Mundo, Domenico; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions.
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 2
    Experimental Evaluation of Actuation and Sensing Capabilities of a Haptic Device
    (Springer, 2019) Mobedi, Emir; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.
  • Conference Object
    Experimental Verification of Quasi-Static Equilibrium Analysis of a Haptic Device
    (Azerbaijan Committee of International Federation, 2017) Görgülü, İbrahimcan; Maaroof, Omar Waleed Najm; Taner, Barış; Dede, Mehmet İsmet Can; Ceccarelli, Marco
    HIPHAD v1.0 is a kinesthetic haptic device which was designed and manufactured in IzTech Robotics Laboratory. In this work, the quasi-static equilibrium analysis is carried out by including the gravitational effects. The calculations are verified through an experimental procedure and the results are presented to characterize the device performance.