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: 24Citation - Scopus: 30Time Efficient Stiffness Model Computation for a Parallel Haptic Mechanism Via the Virtual Joint Method(Elsevier, 2020) Carbone, Giuseppe; Görgülü, İbrahimcan; Dede, Mehmet İsmet CanHaptic devices are used for displaying a range of mechanical impedance values to the user. This impedance is regulated by a real-time control loop depending on the position information of the end-effector, which is usually acquired indirectly by using forward kinematics equations. Nevertheless, the kinematic model is insufficient to obtain accurate values if there are non-negligible compliant displacements. This gives a strong motivation for implementing a real-time stiffness model in the haptic control loop for improving its accuracy. Additionally, stiffness performance indices can be used at the design stage for enhancing the haptic devices impedance range within optimal design procedures. Fast solutions of a stiffness model are required for a real-time control as well as for decreasing the optimization time during a design process with a trade-off between accuracy and computational costs. In this study, we propose a computation time-efficient stiffness analysis of a parallel haptic device mechanism. The accuracy and computational costs of the proposed model are calculated and compared with a model that is obtained via a finite element method to demonstrate the effectiveness of the proposed approach with the desired real-time and accuracy performance. (C) 2019 Elsevier Ltd. All rights reserved.Conference Object Citation - Scopus: 1Structural Compliance Effects on the Accuracy and Safety of a R-Cube Haptic Device(Springer Verlag, 2019) Carbone, Giuseppe; Acinapura, Antonio; Mundo, Domenico; Görgülü, İbrahimcan; Dede, Mehmet İsmet CanThis paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions.Conference Object Citation - Scopus: 2A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices(Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet CanA 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.Article Citation - WoS: 10Citation - Scopus: 13Buckling Behavior of Steel Bridge I-Girders Braced by Permanent Metal Deck Forms(American Society of Civil Engineers (ASCE), 2012) Eğilmez, Oğuz Özgür; Helwig, Todd A.; Herman, ReaganPermanent metal deck forms (PMDFs) are often used in the bridge industry to support wet concrete and other loads during construction. Although metal formwork in the building industry is routinely relied on for stability bracing, the forms are not permitted for bracing in the bridge industry, despite the large in-plane stiffness. The forms in bridge applications are typically supported on cold-formed angles, which allow the contractor to adjust the form elevation to account for changes in flange thickness and differential camber between adjacent girders. Although the support angles are beneficial toward the constructability of the bridge, they lead to eccentric connections that substantially reduce the in-plane stiffness of the PMDF systems, which is one of the reasons the forms are not relied on for bracing in bridge applications. This paper documents the results of an investigation focused on improving the bracing potential of bridge deck forms. Modifications to the connection details were developed to improve the stiffness and strength of the forming system. Research included buckling tests on a 15-m (50-ft) long, twin-girder system with PMDFs for bracing. In addition, twin-girder tests were also used to validate computer models of the bracing systems that were used for parametric finite-element analytical studies. The buckling test results demonstrated that modified connection details make PMDF systems a viable bracing alternative in steel bridges, which can significantly reduce the number of cross-frames or diaphragms required for stability bracing of steel bridge I-girders during construction.Article Citation - WoS: 6Citation - Scopus: 7Lateral Stiffness of Steel Bridge I-Girders Braced by Metal Deck Forms(American Society of Civil Engineers (ASCE), 2009) Eğilmez, Oğuz Özgür; Herman, Reagan S.; Helwig, Todd A.The lateral-torsional buckling capacity of steel bridge girders is often increased by incorporating bracing along the girder length. Permanent metal deck forms (PMDF) that are used to support the wet concrete deck during bridge construction are a likely source of stability bracing; however, their bracing performance is greatly limited by flexibility in the connections currently used with the formwork. This paper outlines results from a research study that assessed and improved the bracing potential of metal deck forms used in bridge applications. The research study included shear tests of PMDF panels, and also lateral displacement and buckling tests of twin girder systems braced with PMDF. This paper will provide key results from the shear panel tests and then focus on the lateral displacement tests. Parametric investigations of PMDF bracing behavior were conducted using finite-element analyses and the results from the lateral displacement tests served a critical role in calibrating the finite element models. This paper documents key results from lateral load tests of 17 girder-PMDF systems using a variety of bracing details and PMDF thickness values. © 2009 ASCE