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.Kiper, GökhanPublisher: search.filters.publisher.Springer Verlag

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Now showing 1 - 10 of 13
  • Conference Object
    Citation - Scopus: 2
    Function Generation Synthesis With Planar 4-Bar Linkage as a Mixed Problem of Correlation of Crank Angles and Dead-Center Design
    (Springer Verlag, 2019) Kiper, Gökhan; Erez, Melih
    The function generation synthesis of planar four-bar linkage is formulated as a mixed problem of correlation or crank angles and dead-center design. The syn-thesis is based on three desired configurations of the linkage, where the input and output joint angles are specified for two of the configurations and the coupler link is folded upon the output link for the third configuration. The formulation results in a set of nonlinear equations which can be solved analytically. The formulations are tested with numerical examples and similar mixed function generation problems are briefly discussed.
  • Conference Object
    Kinematic Synthesis of Planar 4-Bar Path Generators for Finite Line Positions
    (Springer Verlag, 2019) Kiper, Gökhan; Söylemez, Eres
    Although the kinematic synthesis of planar function, point-path and motion gen-erators are vastly studied in the literature, surprisingly synthesis of line-path gen-erators is not formulized in detail. This study presents the formulization of the planar 4-bar line-path generator synthesis problem for up to 5 homologous posi-tions. Numerical examples for 3 and 4 line positions are presented for the illustra-tion of the formulations.
  • Conference Object
    Citation - Scopus: 4
    Static Force Balancing of a 2r1t Parallel Manipulator With Remote Center of Motion
    (Springer Verlag, 2019) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can; Van der Wijk, Volkert
    Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respec-tive planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not consid-ered as an option due to constructional complexity. A hybrid solution as a combi-nation of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formula-tions are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.
  • Conference Object
    Citation - Scopus: 2
    A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices
    (Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can
    A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic aspects of robots that can be applied in evaluating the unpowered system performance of kinesthetic haptic devices. The physical meanings of these metrics are discussed and the important factors that affect the unpowered system performance of a kinesthetic haptic device are revealed.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    Synthesis of Scalable Planar Scissor Linkages With Anti-Parallelogram Loops
    (Springer Verlag, 2019) Gür, Şebnem; Karagöz, Cevahir; Kiper, Gökhan; Korkmaz, Koray
    Scissor linkages are commonly used as mechanisms for scaling objects. They constitute a significant portion of deployable structures. Since 1960s many researchers sought to form novel structures using the scissor units. In 1990s Hoberman brought a new perspective to the field when he used the loops, not the units to form linkages. Starting from mid 2000s, other researchers joined into this new approach of design. One of the latest researches presented a design for scaling a circular forms with anti-parallelogram loops. This study shows that an anti-parallelogram loop assembly can also be used for scaling planar curves with variable curvature.
  • Conference Object
    Citation - Scopus: 3
    Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines
    (Springer Verlag, 2018) Demirel, Murat; Carbone, Giuseppe; Ceccarelli, Marco; Kiper, Gökhan
    This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.
  • Conference Object
    Citation - Scopus: 11
    Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications
    (Springer Verlag, 2018) Yaşır, Abdullah; Kiper, Gökhan
    Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform.
  • Conference Object
    Citation - WoS: 6
    Citation - Scopus: 3
    A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
    (Springer Verlag, 2018) Tetik, Halil; Kiper, Gökhan
    Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.
  • Conference Object
    Citation - WoS: 11
    Citation - Scopus: 15
    Position Kinematics of a 3-Rrs Parallel Manipulator
    (Springer Verlag, 2016) Tetik, Halil; Kalla, Rohit; Kiper, Gökhan; Bandyopadhyay, Sandipan
    The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. Moving platform has two rotational and one translational degrees-of-freedom. This study formulates the forward and inverse kinematics of the parallel manipulator. A 16-degree polynomial in terms of one of the passive joint variables is obtained for the forward kinematic analysis. Numerical results and the corresponding pose of the manipulator for inverse and forward kinematics are presented.
  • Book Part
    Citation - WoS: 3
    Citation - Scopus: 4
    Mechanism Design for Haptic Handwriting Assistance Device
    (Springer Verlag, 2015) Kiper, Gökhan; Dede, Mehmet İsmet Can
    One of the applications of haptic technology is in education and training. Handwriting for first year-elementary students has been included in the curriculum for some years in Turkey as the first and only writing skill to be taught. Providing these students with a haptic assistance device during the handwriting learning process is the global aim of this work. Among the other components of the design such as electronics, controls and communication, mechanism design is a critical component to be considered for optimization of the device at different levels. This paper aims to address a solution to meet the design criteria through ergonomic design for user along with optimized force exertion capabilities.