Mechanical Engineering / Makina Mühendisliği

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

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Institution Author: search.filters.institutionAuthor.Mobedi, EmirPublication Index: search.filters.publicationIndex.WoS

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  • Article
    Citation - WoS: 12
    Citation - Scopus: 12
    Geometrical Analysis of a Continuously Variable Transmission System Designed for Human-Robot Interfaces
    (Elsevier, 2019) Mobedi, Emir; Dede, Mehmet İsmet Can
    New robotic systems are placed out of their constrained workspaces in order to work alongside humans. Consequently, these applications call for robots monitoring and regulating physical human-robot interaction. These robots’ mechanical compliance should be varied when they are in physical contact with the human or their changing environments. This compliance variation can be achieved in a variety of ways. However, one common idea is the variation of joint stiffness mechanically, electromechanically or by control. The solution presented in this paper is an electromechanical way of varying the joint stiffness. Among the electromechanical methods for varying the joint stiffness, continuously variable transmission (CVT) systems can be used in human-robot interfaces if a set of design criteria are met. These criteria include backdrivability, independent output position and stiffness variation, shock absorbing and low mass/inertia. In this paper, a novel two-cone CVT design with a double spherical transmission element is introduced by taking into account the abovementioned criteria. Additionally, design parameters are identified via carrying out a geometrical analysis of this new CVT system.
  • 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.