Mechanical Engineering / Makina Mühendisliği

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

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  • Article
    Citation - WoS: 31
    Citation - Scopus: 37
    Kinematic Design of a Non-Parasitic 2r1t Parallel Mechanism With Remote Center of Motion To Be Used in Minimally Invasive Surgery Applications
    (Elsevier Ltd., 2020) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can
    In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.
  • Article
    Citation - WoS: 24
    Citation - Scopus: 30
    Time Efficient Stiffness Model Computation for a Parallel Haptic Mechanism Via the Virtual Joint Method
    (Elsevier, 2020) Carbone, Giuseppe; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    Haptic devices are used for displaying a range of mechanical impedance values to the user. This impedance is regulated by a real-time control loop depending on the position information of the end-effector, which is usually acquired indirectly by using forward kinematics equations. Nevertheless, the kinematic model is insufficient to obtain accurate values if there are non-negligible compliant displacements. This gives a strong motivation for implementing a real-time stiffness model in the haptic control loop for improving its accuracy. Additionally, stiffness performance indices can be used at the design stage for enhancing the haptic devices impedance range within optimal design procedures. Fast solutions of a stiffness model are required for a real-time control as well as for decreasing the optimization time during a design process with a trade-off between accuracy and computational costs. In this study, we propose a computation time-efficient stiffness analysis of a parallel haptic device mechanism. The accuracy and computational costs of the proposed model are calculated and compared with a model that is obtained via a finite element method to demonstrate the effectiveness of the proposed approach with the desired real-time and accuracy performance. (C) 2019 Elsevier Ltd. All rights reserved.