Mechanical Engineering / Makina Mühendisliği

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

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Publisher: search.filters.publisher.SpringerSubject: search.filters.subject.Haptics

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  • Conference Object
    Citation - Scopus: 3
    A Continuously Variable Transmission System Designed for Human–robot Interfaces
    (Springer, 2021) Mobedi, Emir; Dede, Mehmet İsmet Can
    Within a predefined limit, continuously variable transmission (CVT) systems can continuously vary the power transmission ratio. The transmission in CVTs is achieved via friction, belt or gear systems. If CVT designs can incorporate backdrivability, independent output position and impedance variation, shock absorbtion, and low mass and inertia, they can be employed in human–robot interfaces. Among various types of CVT designs, the two-cone drive CVT designs have a major drawback since the output torque and position cannot be changed independent of each other. The friction wheel used in this design does not have a holonomic motion capability and causes this inconvenience. In order to overcome this problem, a sphere is used in this work for the CVT design as the transmission element. In addition, it is stated in the literature that common CVT drive systems do not have the capability to be used in cyclic bidirectional motion. In the presented CVT design, a second sphere is added to the system with two springs from the lower part of the cones for pretension in order to solve the bidirectional transmission problem. In this paper, the working principle and conceptual design details of the novel two-cone CVT drive are presented. Experimental results showed that the novel CVT has the capacity to transmit bidirectional power with some accuracy. © 2021, Springer Nature Singapore Pte Ltd.
  • Conference Object
    The Effects of Admittance Term on Back-Drivability
    (Springer, 2018) Işıtman, Oğulcan; Ayit, Orhan; Dede, Mehmet İsmet Can
    In the design of kinesthetic haptic devices, there are mainly impedance type and admittance type device. In a customary scenario, the human operator back-drives the haptic device by holding and providing motion to the handle of the haptic device. If the type of transmission system does not allow passive back-drivability, then the back-drivability is satisfied by the use of an admittance controller. This type of a haptic device is said to have admittance structure. The selection of the admittance term in this controller plays a critical part in the task execution performance. Determination of this term is not trivial and the optimal parameters depend on not only the key performance criteria but also on the human operator. An experimental study is carried out in this work to determine the effect of the admittance term parameters on the performance of human operators in terms of the energy efficiency and the best accuracy. In this paper, the experimental set-up and the results of the experiments are presented and discussed.