Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
Browse
4 results
Search Results
Article A Hybrid Actuation System for Enhancing the Performance Metrics Related to Kinesthetic-Type Haptic Devices(IEEE-Inst Electrical Electronics Engineers Inc, 2025) Kucukoglu, Sefa Furkan; Can Dede, Mehmet ismetHigh torque to volume ratio, fast response, and high dynamic range are some of the desired performance metrics for kinesthetic-type haptic device actuation systems. In this article, we present a hybrid actuation system consisting of an active actuator and a magnetorheological fluid-based brake (MRF brake). MRF brake's tradeoffs, namely, off-state torque and slow response (compared to an electric motor), are investigated and resolved by this hybrid actuation system. First, the transient behavior of the MRF brake is investigated and an mathematical model is proposed to mimic its transient response behavior. It is found that the performance of the proposed model performs better than the conventionally used first-order transfer function. Second, hybrid actuation system is constructed. The active actuator is used for compensating for the speed of the response and the off-state torque based on the proposed mathematical model of the MRF brake. It is measured that the off-state torque is largely eliminated from 0.178 to 0.008 N center dot m, the dynamic range is enlarged from 15 to 42.4 dB, and its time constant is improved from 69.6 to 4.4 ms when the hybrid actuation system is used instead of just an MRF brake.Article Citation - WoS: 1Citation - Scopus: 1Torque-Current Relationship of an Mr Brake for Its Open-Loop Control(Ieee-inst Electrical Electronics Engineers inc, 2024) Kucukoglu, Sefa Furkan; Bozelli, Muhammed Rza; Dede, Mehmet Ismet CanActive and semiactive actuators have been widely preferred for designing an actuation system for kinesthetic-type haptic devices. Among them, magnetorheological fluid-based brakes (MR brakes) offer potent properties, such as high torque/inertia ratio and less power consumption. However, one of the most critical issues to be resolved is their hysteresis behavior. Various methods for modeling the input/output relationship with hysteresis behavior exist. However, hysteresis compensation approaches, i.e., torque-current hysteresis model, are not widely studied for MR Brakes. Therefore, a hysteresis compensation model approach to account for the nonlinear behavior of MR Brake is proposed, and the model is experimentally validated in this article. The model consists of multiple splines and an algorithm that uses these splines in hysteresis compensation. Being relatively simple and easily implementable are the distinguished features of the presented model since an optimization method is not required. Furthermore, the performance of the proposed method is compared with two methods, torque-to-current mapping and inverse Prandtl-Ishlinskii method. The obtained experimental results are investigated with three performance metrics. Finally, the effect of the operational speed on the performance of the hysteresis compensation model is also discussed.Conference Object Citation - WoS: 1Citation - Scopus: 1Modeling a Magneto-Rheological Fluid-Based Brake Via a Neural Network Method(Springer international Publishing Ag, 2022) Kucukoglu, Sefa Furkan; Dede, Mehmet Ismet Can; Ceccarelli, MarcoIdentifying the model of a magneto-rheological (MR) fluid-based brake is extremely important for designing and controlling a haptic device with hybrid actuation. Therefore, in this study, an Elman Recurrent Neural Network (ERNN) is designed to understand and model a characterization of an MR fluid-based rotational brake. Three important factors that affect the MR brake's performance are chosen as inputs: current, speed, and the first derivative of the input current. The proposed network is trained, and the performance of the network is tested with three different experimental scenarios. Then, the effect of these inputs on the system is investigated. According to the results, it can be said that the designed ERNN is a good candidate for modelling an MR brake.Conference Object Citation - WoS: 2Citation - Scopus: 2Function Generation Synthesis of Planar Slider-Crank Linkages for Given 3 Positions and a Dead-Center Position(Springer Verlag, 2020) Kiper, Gokhan; Gorgulu, Ibrahimcan; Kucukoglu, Sefa FurkanFunction generation for finitely many positions and dead-center design problems are generally separately handled in the literature. This paper presents a mixed formulation for planar slider-crank linkages where three precision points and a folded or extended dead-center position are to be satisfied. The formulation results in an 8th degree univariate. Examples show that generally there are four real solutions, only two of which result in distinct solutions.