Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Author: search.filters.author.Kiper, GökhanPublisher: search.filters.publisher.Springer

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Now showing 1 - 10 of 13
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 1
    A Historical Review of Polyhedral Linkages
    (Springer, 2024) Kiper, Gökhan
    Polyhedral linkages are linkages that resemble polyhedral shapes at different configurations. This paper summarizes the necessary geometrical fundamentals of polyhedral geometry and presents a historical and critical review of the polyhedral linkage designs available in the literature. Basic definitions of polyhedral geometry and operations are needed to comprehend and design polyhedral linkages. First, early works on polyhedral linkages are presented, where flexible polyhedra with rigid faces and flexible edges are issued. The final part is reserved to conformal polyhedral linkages, which go through shape transformations while plane, dihedral and solid angles are preserved. Conformal polyhedral linkages are examined in four categories: 1) Jitterbug-like linkages with screwing polygonal links connected to each other with dihedral angle preserving links, 2) polyhedral linkages with planar kinematic chains in radial motion planes, 3) polyhedral linkages with planar kinematic chains on faces, that are connected to each other with dihedral angle preserving links, and 4) other conformal polyhedral linkages. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
  • Conference Object
    Citation - Scopus: 3
    Four-bar function generation using excel solver
    (Springer, 2023) Söylemez, Eres; Kiper, Gökhan
    The Chapter presents a simple and efficient way of approximating a function with a four-bar mechanism using four or five design parameters including one or both of the initial crank angles. The method only involves solution of linear set of equations and evaluating determinants, whereas nonlinear equations are numerically solved using a simple program such as Excel. So, the method is easy to explain and can be taught in an undergraduate course along with the wellknown linear three precision point synthesis problem. Precision point synthesis, order synthesis, mixed order synthesis, least squares approximation and extreme point synthesis can all be treated using the same method. The proposed method is illustrated with numerical examples for all mentioned synthesis problems and shown to be quite efficient with very low amount of structural error values.
  • Conference Object
    Citation - Scopus: 3
    Design and Balancing of a Novel 2r1t Manipulator With Remote Center of Motion
    (Springer, 2023) Yılmaz, Tuğrul; Kiper, Gökhan
    The paper presents a novel manipulator design to be used as an endoscope holder for endonasal skull base surgeries. The manipulator should provide two rotational and one translational motions for the endoscope, where it should be able to be oriented about and slide along the tip of the nostril of a patient as a pivot point. First, suitable manipulators with remote center motion are investigated. Manipulators with serial and hybrid kinematic structure and redundant manipulators with a passive joint are examined. A serial manipulator with a circular arc as the second rotation axis is chosen for the detailed design. The novelty of the kinematic structure of the manipulator is that the end-effector heave motion is achieved in a tangential direction to the circular arc. The constructional design and counter-mass balancing solution for the manipulator are presented. The total assembly mass is 11.6 kg for navigating an endoscope of 0.44 kg mass.
  • Conference Object
    Citation - Scopus: 2
    Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism
    (Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Kiper, Gökhan
    If the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.
  • Article
    Citation - WoS: 5
    Citation - Scopus: 5
    Loop Based Classification of Planar Scissor Linkages
    (Springer, 2022) Kiper, Gökhan; Korkmaz, Koray; Gür, Şebnem; Yar Uncu, Müjde; Maden, Feray; Akgün, Yenal; Karagöz, Cevahir
    Scissor linkages have been used for several applications since ancient Greeks and Romans. In addition to simple scissor linkages with straight rods, linkages with angulated elements have been introduced in the last decades. In the related literature, two methods have been used to design scissor linkages, one of which is based on scissor elements, and the other is based on assembling loops. This study presents a systematic classification of scissor linkages as assemblies of rhombus, kite, dart, parallelogram and anti-parallelogram loops using frieze patterns and long-short diagonal connections. After the loops are replicated along a curve as a pattern, the linkages are obtained by selection of proper common link sections for adjacent loops. The resulting linkages are analyzed for their motions and they are classified as realizing scaling deployable, angular deployable or transformable motion. Some of the linkages obtained are novel. Totally 10 scalable deployable, 1 angular deployable and 8 transformable scissor linkages are listed. Designers in architecture and engineering can use this list of linkages as a library of scissor linkage topologies.
  • Article
    Design, Prototyping and Tests of a Rollable Ramp for Temporary Use
    (Springer, 2021) Doğan Kumtepe, Elvan; Kiper, Gökhan
    Portable ramps, used generally by wheelchair users, offer temporary solution to increase accessibility and mobility. Preferably these ramps should be compact and lightweight for ease of handling and storage. Different types of portable ramps in the market that are used by wheelchair users are generally made of aluminum and require several improvements, especially in terms of lightweight and compactness. Based on wheelchair users’ inclinations a compact and lightweight rollable ramp is designed in this study. A parametric model of the links of the ramp are derived and the rolled geometry is optimized using convex hull and smallest enclosing circle algorithms. The side bars of the links are designed and manufactured from aluminum and the load-bearing panels are manufactured from sandwich composite structures with honeycomb core. Strength calculations are performed analytically and also with finite-element analysis. After the design is finalized, a prototype is manufactured. The designed ramp is 15.4% more compact and has 18.9% less weight compared to the best rival product available in the market. Load tests and functional tests are performed with voluntary wheelchair users. Several positive feedbacks are received from the participants about the ramp being practical, easy to use and store, lightweight, advantage of the anti-slip surface.
  • Conference Object
    A sustainable association case study: IFToMM member organization Turkey
    (Springer, 2022) Kiper, Gökhan; Söylemez, Eres
    As a member of IFToMM founded in 2011, Turkish Machine Theory Association’s (MakTeD) structure has put special emphasis on sustainability of the association and initiated several activities for improving the quality of education and research in mechanism and machine science area, hence supporting the SDG4 Quality Education of the UN. This paper presents the activities and methodologies of MakTeD. The paper starts with a brief history of mechanism and machine science in Turkey. In 10 years MakTeD organized 4 symposiums, 1 conference, 4 summer/winter schools, 8 workshops and hosted an IFToMM Executive Council meeting. Each chapter of the biyearly held National Symposium on Theory of Machines is held by a different university and especially newly established and the universities in relatively smaller cities are prioritized in order to promote those universities and to contribute to development of these universities. Especially the summer/winter schools and workshops have a widespread impact on mechanism and machine science education and research at the universities and institutions. MakTeD also contributes to the community with published books and support programs for young researchers.
  • Conference Object
    Conceptual Design of a 2-Dof Planar High-Speed Industrial Parallel Manipulator
    (Springer, 2019) Uzunoğlu, Emre; Özkahya, Merve; Paksoy, Erkan; Taner, Barış; Dede, Mehmet İsmet Can; Kiper, Gökhan
    This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated specifically for planar 5-bar based parallel linkages. An over-constrained 6-bar linkage with par-allelogram loops and its simply constrained version are selected for detailed de-sign. In addition, a model-based control strategy including a stiffness model is discussed for future studies. Alternative drive systems are evaluated. Finally a prototype is presented.
  • Conference Object
    Manipulator Design for a Haptic System With Improved Performance
    (Springer, 2021) Sekendiz, Veysel; Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Kiper, Gökhan; Dede, Mehmet İsmet Can
    This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in performance evaluation of haptic devices. In this study, kinematic design optimization, static balancing, constructional design enhancement and actuation system design studies are presented.
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 1
    A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance
    (Springer, 2013) Huang, Chintien; Huang, Weiche; Kiper, Gökhan
    This paper presents a closed-form solution to the four-position synthesis problem by using a spatial slider, which is a spatial dyad of two perpendicularly intersected cylindrical joints. We utilize the dialytic elimination method to simplify the synthesis equations and to obtain a univariate ninth degree polynomial equation. Among the nine sets of solutions, two of them are infinite, and one is the displacement screw from the first position to the second position. Therefore, we have at most six real solutions that can be used to design spatial sliders for the four-position synthesis problem. A numerical example is provided in to demonstrate the validity of the solution procedure.