Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Author: search.filters.author.Demirel, M.Language: search.filters.language.en

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  • Book Part
    A Critical Review of Deployable Truss Masts and Proposal of a New Mast: Hidam
    (Springer Nature, 2023) Cebeci, Y.; Demirel, M.; Kiper, G.
    This paper investigates the factors which affect the packing ratio of deployable articulated truss masts and investigates the necessary design criteria for new designs with enhanced packing ratio. First, the available deployable articulated truss masts are examined, and the design parameters of these structures are worked out. Then a novel design called HiDAM is proposed with superior packing ratio compared to similar ones in the literature. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.
  • Article
    Citation - WoS: 5
    Citation - Scopus: 4
    Design of a Novel Hybrid Cable-Constrained Parallel Leg Mechanism for Biped Walking Machines
    (Cambridge University Press, 2023) Demirel, M.; Kiper, G.; Carbone, G.; Ceccarelli, M.
    In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines. © The Author(s), 2023.