Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 10Citation - Scopus: 12A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique(MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, LeventRedundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.Article Citation - WoS: 6Citation - Scopus: 8Kinematic Synthesis of Over-Constrained Double-Spherical Six-Bar Mechanism(Elsevier Ltd., 2014) Maaroof, Omar W.; Dede, Mehmet İsmet CanThe main problem in the synthesis of any mechanism is the fact that the objective function of the mechanism, which will be synthesized, should be found and simplified by using appropriate algebraic method. Finding objective function and calculation process can become complicated especially when the number of design parameters is increased for the over-constrained mechanisms. A new technique for solving the kinematic synthesis of over-constrained double-spherical six-bar mechanism is developed and applied in this work. Interpolation approximation is used during synthesis procedure. A numerical example for the kinematic synthesis procedure is given to validate the theory in application.Article Citation - WoS: 3Citation - Scopus: 4Function Generation With Two Loop Mechanisms Using Decomposition and Correction Method(Elsevier, 2017) Kiper, Gökhan; Dede, Mehmet İsmet Can; Maaroof, Omar W.; Özkahya, MerveMethod of decomposition has been successfully applied to function generation with multi-loop mechanisms. For a two-loop mechanism, a function y = f(x) can be decomposed into two as w = g(x) and y = h(w) = h(g(x)) = f(x). This study makes use of the method of decomposition for two-loop mechanisms, where the errors from each loop are forced to match each other. In the first loop, which includes the input of the mechanism, the decomposed function (g) is generated and the resulting structural error is determined. Then, for the second loop, the desired output of the function (f) is considered as an input and the structural error of the decomposed function (g) is determined. By matching the obtained structural errors, the final error in the output of the mechanism is reduced. Three different correction methods are proposed. The first method has three precision points per loop, while the second method has four. In the third method, the extrema of the errors from both loops are matched. The methods are applied to a Watt II type planar six-bar linkage for demonstration. Several numerical examples are worked out and the results are compared with the results in the literature.