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, GökhanScopus Q: search.filters.scopusQuartile.N/A

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Now showing 1 - 10 of 16
  • 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.
  • Conference Object
    Citation - Scopus: 2
    Function Generation Synthesis With Planar 4-Bar Linkage as a Mixed Problem of Correlation of Crank Angles and Dead-Center Design
    (Springer Verlag, 2019) Kiper, Gökhan; Erez, Melih
    The function generation synthesis of planar four-bar linkage is formulated as a mixed problem of correlation or crank angles and dead-center design. The syn-thesis is based on three desired configurations of the linkage, where the input and output joint angles are specified for two of the configurations and the coupler link is folded upon the output link for the third configuration. The formulation results in a set of nonlinear equations which can be solved analytically. The formulations are tested with numerical examples and similar mixed function generation problems are briefly discussed.
  • 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
    Citation - WoS: 1
    Citation - Scopus: 3
    Reconfigurable deployable umbrella canopies
    (Institute of Electrical and Electronics Engineers Inc., 2018) Jovichikj, R.; Yaşır, Abdullah; Kiper, Gökhan
    The kinematic design of reconfigurable deployable canopy mechanisms with radially distributed limbs are presented in this study. The mechanisms allow a compact form and are reconfigurable with several alternative deployed forms which can be in the form of a tent, a canopy or a form in between. Each limb of the canopy possesses at least two assembly modes which enables reconfigurability. The conditions for deployment and reconfiguration of the mechanism are derived. These conditions impose equality and inequality constraints for the link lengths of the mechanism. A parametric model of the mechanism is constructed in Excel for design and simulation purposes. Solid models and a prototype are presented as examples.
  • 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.
  • Conference Object
    Citation - Scopus: 2
    A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices
    (Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can
    A 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.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    Synthesis of Scalable Planar Scissor Linkages With Anti-Parallelogram Loops
    (Springer Verlag, 2019) Gür, Şebnem; Karagöz, Cevahir; Kiper, Gökhan; Korkmaz, Koray
    Scissor linkages are commonly used as mechanisms for scaling objects. They constitute a significant portion of deployable structures. Since 1960s many researchers sought to form novel structures using the scissor units. In 1990s Hoberman brought a new perspective to the field when he used the loops, not the units to form linkages. Starting from mid 2000s, other researchers joined into this new approach of design. One of the latest researches presented a design for scaling a circular forms with anti-parallelogram loops. This study shows that an anti-parallelogram loop assembly can also be used for scaling planar curves with variable curvature.
  • Conference Object
    Citation - Scopus: 3
    Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines
    (Springer Verlag, 2018) Demirel, Murat; Carbone, Giuseppe; Ceccarelli, Marco; Kiper, Gökhan
    This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.
  • Conference Object
    Citation - Scopus: 1
    Trajectory Planning for a Redundant Planar Laser-Cutting Machine With Macro-Micro Manipulation
    (IFToMM, 2015) Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan
    Kinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised by using kinematically different two mechanisms with different advantages. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. In this work, a macro mechanism with larger workspace is used along with a micro mechanism that has higher dynamics and lower inertia. A trajectory planning algorithm integrated with the control structure making use of the previously defined advantages of both mechanisms is explained in this paper. A case study is provided to validate the developed algorithm.
  • Book Part
    Citation - WoS: 3
    Citation - Scopus: 4
    Mechanism Design for Haptic Handwriting Assistance Device
    (Springer Verlag, 2015) Kiper, Gökhan; Dede, Mehmet İsmet Can
    One of the applications of haptic technology is in education and training. Handwriting for first year-elementary students has been included in the curriculum for some years in Turkey as the first and only writing skill to be taught. Providing these students with a haptic assistance device during the handwriting learning process is the global aim of this work. Among the other components of the design such as electronics, controls and communication, mechanism design is a critical component to be considered for optimization of the device at different levels. This paper aims to address a solution to meet the design criteria through ergonomic design for user along with optimized force exertion capabilities.