Mechanical Engineering / Makina Mühendisliği

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

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  • Article
    Citation - WoS: 10
    Citation - Scopus: 12
    A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique
    (MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, Levent
    Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 5
    Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters
    (Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, Enver
    Summary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.
  • Article
    Citation - WoS: 11
    Citation - Scopus: 16
    Trajectory Planning for a Planar Macro-Micro Manipulator of a Laser-Cutting Machine
    (Emerald Group Publishing Ltd., 2016) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan
    Purpose-In the industry, there is always a demand to shorten the task completion durations to maximize the efficiency of the operation. This work focuses on making use of a special type of kinematic redundancy, macro-micro manipulation, to minimize the task completion duration. The purpose of this paper is to develop the most convenient trajectory planner to be integrated with industrial computerized numerical control (CNC) systems to resolve kinematic redundancy for task duration minimization. Design/methodology/approach-A special type of kinematic redundancy is devised by using two kinematically different mechanisms that have different advantages, which are named as macro and micro mechanisms. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. A new trajectory planning algorithm is designed and used for the constructed planar laser-cutting machine, and some benchmark pieces are cut. Findings-Offline method has practical limitations for employment in a real case scenario such as assuming infinite jerk limits for each axis motion. This limitation was removed by using an online trajectory generation technique. Experimental test results indicate that the online trajectory planning technique developed for the macro-micro mechanism to shorten the task duration was successful. Practical implications-Although the new trajectory planning algorithm is implemented for a laser-cutting machine, it can also be used for other manufacturing systems that require higher acceleration and accuracy levels than the conventional machines. The new algorithm is compatible with the commercially available CNC systems. Originality/value-In this work, a new approach to reducing the task duration for planar machining operations was introduced by making use of macro-micro manipulation concept. The core novelty of the work is devising trajectory planning algorithms to get the most efficiency in terms of acceleration limits from a macro-micro manipulation while making these algorithms deployable to most of the CNC systems.