Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
Browse
4 results
Search Results
Article Citation - WoS: 5Citation - Scopus: 5A Continuously Variable Transmission-Based Variable Stiffness Actuator for Phri: Design Optimization and Performance Verification(American Society of Mechanical Engineers, 2024) Mobedi, Emir; Dede, Mehmet İsmet CanPhysical human–robot interfaces (pHRIs) enabled the robots to work alongside the human workers complying with the regulations set for physical human–robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems’ design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance its application area and to detect the limitations of the system. Thus, in this paper, we present a design optimization approach (an adjustment strategy) for this system based on the design goals, desired force, and minimization of the size of the system. To implement such design goals, the static force analysis of the CVT is performed and validated. Furthermore, the fabrication of the optimized prototype is presented, and the experimental verification is performed considering the requirements of VSAs: independent position and stiffness variation, and shock absorbing. Finally, the system is calibrated to display 6 N continuous output force throughout its transmission variation range. © 2024 by ASME.Article Citation - WoS: 10Citation - Scopus: 12A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique(MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, LeventRedundancy 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: 11Citation - Scopus: 11A New Stiffness Performance Index: Volumetric Isotropy Index(MDPI, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet CanA new index for a precise calculation of a manipulator's stiffness isotropy is introduced. The proposed index is compared with the conventionally used stiffness isotropy index by making use of the investigation on R-CUBE manipulator. The proposed index is shown to produce relatively more precise results from which a higher number of isotropic poses are detected.Article Citation - WoS: 11Citation - Scopus: 11Design and Development of an Educational Desktop Robot R3d(John Wiley and Sons Inc., 2017) Şahin, Osman Nuri; Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet CanRobotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R3D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared.