Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
Browse
120 results
Filters
Settings
Search Results
Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Paksoy, Erkan; Dede, Mehmet Ismet Can; Kiper, GokhanFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.Article Citation - WoS: 5Citation - Scopus: 5A Continuously Variable Transmission-Based Variable Stiffness Actuator for Phri: Design Optimization and Performance Verification(American Society of Mechanical Engineers, 2024) Mobedi, Emir; Dede, Mehmet İsmet CanPhysical human–robot interfaces (pHRIs) enabled the robots to work alongside the human workers complying with the regulations set for physical human–robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems’ design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance its application area and to detect the limitations of the system. Thus, in this paper, we present a design optimization approach (an adjustment strategy) for this system based on the design goals, desired force, and minimization of the size of the system. To implement such design goals, the static force analysis of the CVT is performed and validated. Furthermore, the fabrication of the optimized prototype is presented, and the experimental verification is performed considering the requirements of VSAs: independent position and stiffness variation, and shock absorbing. Finally, the system is calibrated to display 6 N continuous output force throughout its transmission variation range. © 2024 by ASME.Article Citation - WoS: 2Citation - Scopus: 3Design and Manufacturing of a Hip Joint Motion Simulator With a Novel Modular Design Approach(Springer, 2023) Torabnia, Shams; Mihçin, Şenay; Lazoğlu, İsmailThe study is aimed to develop a hip joint wear simulator using a modular design approach to help experimentally monitor and control critical wear parameters to validate in-silico wear models. The proper control and application of wear parameters such as the range of motion, and the applied force values while estimating the lost material due to wear are essential for thorough analysis of wear phenomena for artificial joints. The simulator's dynamics were first modeled, then dynamic loading data was used to calculate the forces, which were further used for topology optimization to reduce the forces acting on each joint. The reduction of the link weights, connected to the actuators, intends to improve the quality of motion transferred to the femoral head. The modular design approach enables topology-optimized geometry, associated gravitational and dynamic forces, resulting in a cost-effective, energy-efficient product. Moreover, this design allows integration of the subject specific data by allowing different boundary conditions following the requirements of industry 5.0. Overall, the in-vitro motion stimulations of the hip-joint prosthesis and the modular design approach used in the study might help improve the accuracy and the effectiveness of wear simulations, which could lead into the development of better and longer-lasting joint prostheses for all. The subject-specific and society-based daily life data implemented as boundary conditions enable inclusion of the personalized effects. Next, with the results of the simulator, CEN Workshop Agreement (CWA) application is intended to cover the personalized effects for previously excluded populations, providing solution to inclusive design for all.Article Citation - WoS: 9Citation - Scopus: 13Analysis of Adhesively Bonded Joints of Laser Surface Treated Composite Primary Components of Aircraft Structures(Elsevier, 2023) Martin, Seçkin; Nuhoğlu, Kaan; Aktaş, Engin; Tanoğlu, Metin; İplikçi, Hande; Barışık, Murat; Yeke, Melisa; Türkdoğan, Ceren; Esenoğlu, Gözde; Dehneliler, SerkanThe performance of the adhesively bonded aerospace structures highly depends on the adhesion strength between the adhesive and adherents, which is affected by, in particular, the condition of the bonding surface. Among the various surface treatment methods, as state of the art, laser surface treatment is a suitable option for the CFRP composite structures to enhance the adhesion performance, adjusting the roughness and surface free energy with relatively minimizing the damage to the fibers. The aim of this study is the validation and evaluation of the adhesive bonding behavior of the laser surface-treated CFRP composite structures, using the finite element technique to perform a conservative prediction of the failure load and damage growth. Such objectives were achieved by executing both experimental and numerical analyses of the secondary bonded CFRP parts using a structural adhesive. In this regard, to complement physical experiments by means of numerical simulation, macro-scale 3D FEA of adhesively bonded Single Lap Joint and Skin-Spar Joint specimens has been developed employing the Cohesive Zone Model (CZM) technique in order to simulate bonding behavior in composite structures especially skin-spar relation in the aircraft wing-box.Article Citation - WoS: 15Citation - Scopus: 17Effects of Nanosecond Laser Ablation Parameters on Surface Modification of Carbon Fiber Reinforced Polymer Composites(SAGE Publications, 2023) Martin, Seçkin; İplikçi, Hande; Barışık, Murat; Türkdoğan, Ceren; Yeke, Melisa; Nuhoğlu, Kaan; Esenoğlu, Gözde; Tanoğlu, Metin; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemRemoval of contaminants and top polymer layer from the surface of carbon-fiber-reinforced polymer (CFRP) composites is critical for high-quality adhesive-joining with direct bonding to the reinforcing fiber constituents. Surface treatment with a laser beam provides selective removal of the polymer matrix without damaging the fibers and increasing the wettability. However, inhomogeneous thermal properties of CFRP make control of laser ablation difficult as the laser energy absorbed by the carbon fibers is converted into heat and transmitted through the fiber structures during the laser operation. In this study, the effect of scanning speed and laser power on nanosecond laser surface treatment was characterized by scanning electron microscope images and wetting angle measurements. Low scanning speeds allowed laser energy to be conducted as thermal energy through the fibers, which resulted in less epoxy matrix removal and substantial thermal damage. Low laser power partially degraded the epoxy the surface while the high power damaged the carbon fibers. For the studied CFRP specimens consisting of unidirectional [45/0/?45/90]2s stacking of carbon/epoxy prepregs (HexPly®-M91), 100 mJ/mm2 generated by 10 m/s scanning speed and 30 W power appeared as optimum processing parameters for the complete removal of epoxy matrix from the top surface with mostly undamaged carbon fibers and super hydrophilic surface condition. © The Author(s) 2023.Article Citation - WoS: 1Citation - Scopus: 1Epoxy Matrix Nano Composites: Modulus, Strength and Ductility Enhancement Through Auxeticity of Α-Cristobalite Filler(Elsevier, 2023) Güden, Mustafa; Ülker, Sevkan; Movahedi, NimaThe negative Poisson's ratio (NPR) nano-size ?-Cristobalite particle/epoxy composites were prepared and tensile tested. The elastic modulus and strength of the composites were improved as the particle volume fraction increased from 0 to 0.02. Unlike the conventional particle reinforced composites, the fracture strain increased with the nano ?-Cristobalite addition, an effect which was ascribed to the intrinsic NPR behavior of the filler. © 2023 Elsevier B.V.Article Citation - WoS: 2Citation - Scopus: 4A Study on a Computationally Efficient Controller Design for a Surgical Robotic System(Springer, 2023) Ayit, Orhan; Dede, Mehmet İsmet CanThe control algorithms of the surgical robotic system using the robot’s dynamics produce a relatively high computational load on the processor. This paper develops a computationally efficient computed torque controller by using a simplified dynamic modeling method and implemented in a novel surgical robot experimentally. In addition, an independent joint controller is designed and implemented to compare the results of the computed torque controller. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.Article Citation - WoS: 15Citation - Scopus: 15The Effect of Strain Rate on the Compression Behavior of Additively Manufactured Short Carbon Fiber-Reinforced Polyamide Composites With Different Layer Heights, Infill Patterns, and Built Angles(Springer, 2023) Zeybek, Mehmet Kaan; Güden, Mustafa; Taşdemirci, AlperPrevious studies on the fused deposition modelling (FDM) processed short carbon fiber/Polyamide 6 (PA6) matrix composites and neat PA6 have mostly concentrated on the quasi-static mechanical properties. Present study focused on the strain rate-dependent deformation behavior of a short carbon fiber-reinforced PA6 (Onyx) and neat PA6, produced in different layer heights, infill patterns and built angles. As compared with PA6, Onyx showed a higher compression stress at all strain rates investigated. A layer height of 0.2 mm in PA6 specimens promoted a better bonding between [0/90°] infill layers; hence, a higher flow stress than 0.2 mm layer height specimens, while 0.2 mm layer height induced a higher porosity in Onyx specimens, leading to a lower flow stress. The porosities in Onyx [0/90°] infill specimens were due to the constraining effect of 0/90° fiber layers. Changing infill pattern from a [0/90°] to a concentric one decreased porosity at the same layer height and hence increased the compressive flow stress. The highest compressive strength was found in the specimens with the loading axis 90 and 0° to [0/90°] infill plane. The lowest strength was, however, determined in the specimens with the loading axis 30 and 60o to [0/90°] infill plane in quasi-static loading. However, the specimens with the loading axis of 60, 45, 30 and 0° exhibited a brittle behavior in high strain rate loading (1500 s−1). The specimens with the loading axis of 45° had the lowest fracture stress and strain in the high strain rate loading. This signified the importance of loading angle at high strain rates. Finally, the rate sensitivities of PA6 and Onyx specimens were shown to be similar, showing a matrix dominated deformation. However, the strain rate jump tests indicated a slightly higher rate sensitivity of Onyx specimens at quasi-static strain rates (10−3-10−1 s−1).Article Citation - WoS: 3Citation - Scopus: 3Quasi-Static and Dynamic Brazilian Testing and Failure Analysis of a Deer Antler in the Transverse To the Osteon Growth Direction(Elsevier, 2023) Orhan, Mehmet; Sarıkaya, Mustafa Kemal; Taşdemirci, Alper; Tuncer, Can; Güden, MustafaThe transverse tensile strength of a naturally fallen red deer antler (Cervus Elaphus) was determined through indirect Brazilian tests using dry disc-shape specimens at quasi-static and high strain rates. Dynamic Brazilian tests were performed in a compression Split-Hopkinson Pressure Bar. Quasi-static tensile and indirect Brazilian tests were also performed along the osteon growth direction for comparison. The quasi-static transverse tensile strength ranged 31.5–44.5 MPa. The strength increased to 83 MPa on the average in the dynamic Brazilian tests, proving a rate sensitive transverse strength. The quasi-static tensile strength in the osteon growth direction was however found comparably higher, 192 MPa. A Weibull analysis indicated a higher tensile ductility in the osteon growth direction than in the transverse to the osteon growth direction. The microscopic analysis of the quasi-static Brazilian test specimens (tensile strain along the osteon growth direction) revealed a micro-cracking mechanism operating by the crack deflection/twisting at the lacunae in the concentric lamellae region and at the interface between concentric lamellae and interstitial lamellae. On the other side, the specimens in the transverse direction fractured in a more brittle manner by the separation/delamination of the concentric lamellae and pulling of the interstitial lamellae. The detected increase in the transverse strength in the high strain rate tests was further ascribed to the pull and fracture of the visco-plastic collagen fibers in the interstitial lamellae. This was also confirmed microscopically; the dynamically tested specimens exhibited flatter fracture surfaces. © 2023 Elsevier LtdArticle Citation - WoS: 8Citation - Scopus: 8Improving Adhesive Behavior of Fiber Reinforced Composites by Incorporating Electrospun Polyamide-6,6 Nanofibers in Joining Region(SAGE Publications, 2022) Esenoğlu, Gözde; Barışık, Murat; Tanoğlu, Metin; Yeke, Melisa; Türkdoğan, Ceren; İplikçi, Hande; Martin, Seçkin; Nuhoğlu, Kaan; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemAdhesive joining of fiber reinforced polymer (CFRP) composite components is demanded in various industrial applications. However, the joining locations frequently suffer from adhesive bond failure between adhesive and adherent. The aim of the present study is improving bonding behavior of adhesive joints by electrospun nanofiber coatings on the prepreg surfaces that have been used for composite manufacturing. Secondary bonding of woven and unidirectional CFRP parts was selected since this configuration is preferred commonly in aerospace practices. The optimum nanofiber coating with a low average fiber diameter and areal weight density is succeed by studying various solution concentrations and spinning durations of the polyamide-6.6 (PA 66) electrospinning. We obtained homogeneous and beadles nanofiber productions. As a result, an average diameter of 36.50 +/- 12 nm electrospun nanofibers were obtained and coated onto the prepreg surfaces. Prepreg systems with/without PA 66 nanofibers were hot pressed to fabricate the CFRP composite laminates. The single-lap shear test coupons were prepared from the fabricated laminates to examine the effects of PA 66 nanofibers on the mechanical properties of the joint region of the composites. The single-lap shear test results showed that the bonding strength is improved by about 40% with minimal adhesive use due to the presence of the electrospun nanofibers within the joint region. The optical and SEM images of fractured surfaces showed that nanofiber-coated joints exhibited a coherent failure while the bare surfaces underwent adhesive failure. The PA66 nanofibers created better coupling between the adhesive and the composite surface by increasing the surface area and roughness. As a result, electrospun nanofibers turned adhesive failure into cohesive and enhanced the adhesion performance composite joints substantially.