Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 1Citation - Scopus: 1A New Safe Flexible Torsion Joint Design With Softening Stiffness Characteristics(Pergamon-elsevier Science Ltd, 2025) Gorgulu, Ibrahimcan; Dede, Mehmet Ismet Can; Kiper, GokhanThis paper introduces a novel flexible joint design that enhances mechanical versatility. The design shows how to obtain bidirectional deflections from a unidirectional spring. It enables the parallel and serial connections of springs. It features multiple stiffness regions determined by applied load levels, eliminating the need for a clutch mechanism. Mechanical limits can be added to customize stiffness, offering more hardening or softening regions. The design also allows for connecting multiple flexible joint units in series. In a case study, the series flexible joint design is developed with two flexible joint units, providing a softening stiffness characteristic. The joint has rigid, stiff, and soft regions. When used as a series elastic actuator in a robot manipulator, the rigid region aims to conduct the tasks at low torque levels, i.e., trajectory tracking. The stiff region is preserved for collaborative tasks in human-robot interaction, while the soft region enhances the robot's safety in case of control failure or collision. Static and dynamic test results comply with the ideal model. This flexible joint design improves mechanical performance, safety, and adaptability.Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Paksoy, Erkan; Dede, Mehmet Ismet Can; Kiper, GokhanFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.Conference Object Kinematic Design of a Novel Finger Exoskeleton Mechanism for Rehabilitation Exercises(Springer international Publishing Ag, 2024) Kiper, Gokhan; Inanc, EmirhanThe paper presents the kinematic design of a novel low-cost two degree-of-freedom finger exoskeleton mechanism to be used for rehabilitation exercises for post-stroke or injured patients. The first degree-of freedom is for the flexion/extension of metacarpophalangeal joint and is achieved via a planar 4-bar loop. The second degree-of-freedom is for the simultaneous flexion/extension of distal/proximal interphalangeal joints and is achieved via an over-constrained double-spherical 6-bar linkage, where 3 of the links are the phalanges of the finger and 2 of the joints are finger joints themselves. So, the number of extra links are less compared to other designs in the literature. The motion of an index finger is recorded via image processing. The four-bar mechanism part is designed for optimum transmission angle characteristics. The formulation and application of the kinematic synthesis of the 6-bar linkage is presented. The design is verified via a prototype.Article Design of Rollable Reciprocal Frame Network(int Assoc Shell & Spatial Structures-iass, 2024) Ozen, Gulcin; Korkmaz, Koray; Kiper, GokhanIn the literature, reciprocal frames have been studied mostly for static structures. Studies on kinetic reciprocal frames are very limited. This study investigates two degrees-of-freedom reciprocal frame fans, and a novel deployable reciprocal frame network is obtained. While the network has a single degree-of-freedom in the crosssection, it has multi degrees-of-freedom in the longitudinal section. The network can be rolled to obtain a compact form and takes the form of a vault form when deployed. The way the nexors come together in the designed network is similar to the Da Vinci Bridge. The only difference is that cylindrical and prismatic joints are used in the intersection points to make the designed network deployable.