Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Conference Object Conceptual Design of a 2-Dof Planar High-Speed Industrial Parallel Manipulator(Springer, 2019) Uzunoğlu, Emre; Paksoy, Erkan; Özkahya, Merve; Uzunoğlu, Emre; Paksoy, Erkan; Kiper, Gökhan; Taner, Barış; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Kiper, Gökhan; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringThis study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.Article Citation - WoS: 11Citation - Scopus: 16Trajectory Planning for a Planar Macro-Micro Manipulator of a Laser-Cutting Machine(Emerald Group Publishing Ltd., 2016) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyPurpose-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.Book Part Citation - Scopus: 4Derivation of Input/Output Relationships for the Bennett 6r Linkages Based on the Method of Decomposition(Springer, 2014) Alizade, Rasim; Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Kiper, Gökhan; Alizade, Rasim; Uzunoğlu, Emre; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThe Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing one of the common links. This paper presents the derivation of the input/output relationships for these mechanisms using the decomposition method. This method is based on writing the input/output equations for the two imaginary loops comprising the 6R mechanism and then eliminating the imaginary joint variable. It is found that the resulting input/output equations con-tain up to 4th power of trigonometric terms, such as cos4 θ.Conference Object Citation - Scopus: 3Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration(Springer, 2014) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Mastar, Ercan; Kiper, Gökhan; Uzunoğlu, Emre; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for planar tasks by in-troducing kinematic redundancy. An example setting of a redundant planar mech-anism is considered and an algorithm developed for resolving redundancy order to minimize task completion duration is discussed based on this mechanism.