Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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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.Conference Object Citation - WoS: 1Citation - Scopus: 7Use of Hidden Robot Concept for Calibration of an Over-Constrained Mechanism(IFToMM, 2015) Kiper, G.; Dede, M. I. C.; Uzunoglu, E.; Mastar, E.Overconstrained mechanisms prove useful in applications where high stiffness and low weight is required against high amount of forces while keeping high precision. This study issues a planar two degrees-of-freedom overconstrained parallel manipulator for positioning the end-effector with high acceleration values (>5g) with a positioning precision in the order of 30 inn. Since the manufacturing errors were compatible with the end-effector positioning errors, it was required to perform some system identification before the precision and repeatability tests. For the system identification, the end-effector position and motor input values are recorded. However, since the mechanism is overconstrained, the link lengths could not be obtained due to the lack of analytical inverse kinematics solution. In order to cope with this problem, the hidden robot concept is utilized in order to fit a simple kinematic model between the task space and the joint space of the manipulator. Further calibration studies are carried out using the error correction matrix. The test results are presented.