Master Degree / Yüksek Lisans Tezleri
Permanent URI for this collectionhttps://hdl.handle.net/11147/3008
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Master Thesis Design of a Physical Human-Robot Interface for Lifting Operations(Izmir Institute of Technology, 2022) Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn this thesis, the design of a physical human-robot interface for lifting operations which controls the vertical movement of the payload is studied. The new design uses a low stiffness type of admittance control method that is aimed at reducing the surface impact force of the payload and providing better control for the operator while having the option of high stiffness admittance control. To reduce impact forces by using low stiffness admittance control, a sliding handle mechanism is introduced into the system. This type of design includes springs and bearings to create a low stiffness admittance-type user interface. Mathematical models are developed to calculate spring forces and mechanical strength. According to design requirements and mathematical calculations, the prototype is designed and manufactured. In the tests, it is seen that the spring forces are low, and the sliding motion of the handle is not consistent over different displacements. According to the test results, revisions are done, and the final design of the system is developed. In the final tests, it is seen that the new design of the physical human-robot interface performance is improved and the problem of the sliding motion of the handle is solved. Also, the surface impact forces are reduced with low stiffness admittance control. Another improvement of the new design is the ability to control the payload with high stiffness admittance control if the user chooses it. With this option, users can control the payload by touching the payload. Having both types of control methods, the user can choose which type of control method to use to handle payload in the factory.Master Thesis Design of an Actuation System for a Haptic Glove(Izmir Institute of Technology, 2022) Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn this thesis, the design of a magneto-rheological fluid-based brake (MR brake) system that is aimed to be used on a conceptually designed force feedback virtual reality glove is presented. The reasons of MR brakes are assigned for this task is that they can provide high torque output in smaller volumes/masses, their ability to operate with low power requirements and their safe natures. During their designs, in addition to ensuring their usability for a haptic glove application, solutions have been presented and applied for the sticky wall and high off-state torque problems observed in the MR brake systems. In addition to these, a novel study has been carried out to overcome the low torque-to-mass ratio problem observed in drum-type MR brake architectures used for applications requiring small sizes due to their high manufacturability. The design starts with the determination of the requirements. Later, the mathematical models were developed to estimate the output torques to be obtained from the MR brake and the solid models of the parts were created respectively. In order to estimate the performance of the developed system, magneto-static finite element analyses (FEA) were carried out. The models were updated in line with the analysis results and, the production phase was started after all the design criteria are met. A prototype MR brake system was produced, assembled and tested in order to experimentally verify the analysis results. In the tests carried out, it was observed that all the determined design criteria were met and the developed MR brake system was found to be suitable to be used in a haptic glove application. Based on the test results, the off-state torque seen in MR brake systems, which can increase up to 25% of the maximum output torque, has been reduced to 3% of the total torque output and found to be 23 mN.m. Additionally, thanks to the improved drum-type design, the typical torque-to-mass ratio seen in drum-type MR brake architectures is increased from 1.4 N.m/kg to 2. 90 N.m/kg within 206 grams of mass and 597 mN.m of dynamic torque range of the developed system.Master Thesis Design and Experimental Evaluation of a Dynamically Balanced Over-Constrained Planar 6r Parallel Manipulator(Izmir Institute of Technology, 2019) Özkahya, Merve; Kiper, Gökhan; Dede, Mehmet İsmet Can; Kiper, Gökhan; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyWith the development of the industry, the number of robots used in the production line is increasing day by day. Particularly, it is known that parallel robots are better in terms of positioning accuracy compared to serial robots based on the stretching of robot arms. In parallel mechanisms, there are many factors such as calibration, stability and dynamic balancing of the mechanism affecting positioning accuracy. The aim of this thesis is to dynamically balancing parallel mechanisms to improve positioning accuracy. In high acceleration applications, the shaking force and moment are the factors that cause vibration in the base of the mechanism. These vibrations can be reduced by designing dynamically balanced mechanisms. In this thesis, over- and simply constrained 6R mechanisms are designed for dynamic balancing studies and prototypes are produced. The counter mass method was used to balance the mechanism dynamically. The design of the masses was made according to the mass information received from the model designed in the computer aided drawing program and the parts of the mechanisms were updated according to their actual mass values after they were produced. The design of the masses is designed according to the mass information from CAD model and the parts of the mechanisms are updated according to their actual mass values after they are produced. Dimensional measurements were taken by FARO Prime Arm device due to faults that may arise from the production in the parts of the mechanism after production. Then the mechanism was assembled. Before carrying out the balancing tests, calibration studies affecting the positioning accuracy of the over-constrained mechanism were carried out. Finally, the mechanism is activated balanced and unbalanced and the acceleration effect of the 6-axis accelerometer is obtained experimentally.Master Thesis Augmented Reality-Based Model-Mediated Teleoperation: a Mobile Telerobot Case Study(Izmir Institute of Technology, 2019) Kirişci, Nihat Çağhan; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyTeleoperation is defined as operating a robot in a remote environment. Teleoperation utilizes the strength and dexterity of robots and the interpretation and problem solving skills of humans. In a teleoperation system, the robot to be controlled is referred as the slave. The master is a device that the human operator interacts with to send commands to the slave or receive feedback from the slave environment such as haptic or audio. However, teleoperation of a robot in an unknown environment solely based on haptic and visual feedback is a demanding task. The effects of time delay in communication channels makes completing this task even more challenging. Model-Mediated Teleoperation (MMT) aims to solve this problem by creating a virtual model of the slave robot and the environment. This virtual model receives commands from the master and returns haptic feedback just as the real slave robot is interacting with the environment, effectively with no delay. However, without actually knowing where the position of the virtual robot corresponds in the real environment, it is still challenging to carry out the task. In this project, a novel augmented reality based method is proposed to render the virtual robot into the real life live video feed. Integration of the non-delayed robot into the real environment intends to solve this problem by enhancing the perception of the user.Master Thesis Analysis and Modeling of an Actuation System To Be Used in Light-Weight Collaborative Robots(Izmir Institute of Technology, 2019) Yılmaz, Mert; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyCollaborative robots are a relatively new concept in robotics and industrial automation. Traditional industrial robots are relatively expensive, heavy, and dangerous devices for humans since they are enclosed in working cells with fences. Nowadays, in small and medium enterprises (SMEs), instead of traditional robots lightweight and versatile robots are required which can work alongside human co-workers. In such applications, human safety is a critical factor. ISO has produced new standards for these robots to regulate their collaborative work with human co-workers and named these robots as collaborative robots. The subject of the thesis is related to the actuation systems of light-weight collaborative robots. For these robots, a variety of actuation systems are designed in recent years which are usually modular and compact actuation systems. The main aim of the thesis is to analyze and model of a commonly used actuation system in collaborative robots and to verify its model.Master Thesis Compliance Control of Shad Redundant Robot(Izmir Institute of Technology, 2018) Kanık, Mert; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Tatlıcıoğlu, Enver; 03.05. Department of Electrical and Electronics Engineering; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologySHAD robot, which is located in IYTE Robotics Laboratory, is designed as a 4 degrees-of-freedom manipulator which has a PRRR serial kinematic structure. The prismatic joint works along the vertical axis, and the revolute joints rotate about the vertical axis. Although the positioning task on the plane can be executed by two revolute joints, SHAD robot is designed to be kinematically redundant using three revolute joints. SHAD name is the abbreviations for SHoulder Haptic Device. The manipulator is constructed by using industrial servomotors coupled with high reduction ratio gears. Hence, this robot can only be used as a haptic device if admittance control is implemented for its control scheme. Accordingly, the aim of this study is to implement and test the admittance control algorithm on SHAD robot. However, since a human operator uses this haptic device when he/she is placed inside the workspace, certain safety precautions should be implemented. Therefore, initially, exploiting the kinematic redundancy of SHAD robot, an obstacle avoidance algorithm to move the robot’s links away from the human operator is implemented and tested in simulations and experiments. To do this; (1) SHAD’s mathematical model is derived, (2) This model is verified, and obstacle avoidance algorithm is validated by simulation tests in MATLAB/Simulink, (3) SHAD robot’s experimental setup is developed, (4) Experimental tests for obstacle avoidance are conducted. After the obstacle avoidance algorithm is implemented in the control of SHAD and proven that it works, admittance control experiments are carried out on human subjects to investigate the effects of the admittance term parameters, mass and damper, on certain performance metrics of the user. It is deduced that; (1) as the mass parameter of the admittance term is increased, accuracy of the operation is decreased while the total effort of the user is increased, (2) as the damper parameter of the admittance term is increased, both the accuracy of the operation and the total effort of the user are increased, (3) when the same corner frequency with different admittance term parameters are used, the accuracy of the operation is almost the same but total effort increases as the parameters increase.Master Thesis Design and Development of a Continuously Variable Transmission System To Be Used in Human-Robot Interfaces(Izmir Institute of Technology, 2018) Mobedi, Emir; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyContinuously Variable Transmission (CVT) systems are being used for many applications such as automotive transmissions, robotics, and aerospace. In an ideal condition, these systems have the potential to provide continuously varying power transmission within a predefined limit. This transmission is accomplished with the help of friction, belt or gear systems. CVT can find application in a human-robot interface if a set of design criteria including backdrivability, independent output position and stiffness variation, shock absorbing and low mass and inertia can be satisfied. Even if there are various CVT designs in the literature for human-robot interfaces, the primary limitation of the two-cone drive CVT designs is that the output torque and the output position cannot be altered independently. Considering the friction drive CVT designs, the reason for this problem is that the friction wheel, which is designed to transmit the torque from the input cone to the output cone, gives rise to remarkable longitudinal friction force along the linear way. In order to overcome this problem, a sphere is used in the work presented in this thesis for the CVT design as the transmission element. In addition, it is stated in the literature that common CVT drive systems do not have the capability to be used in cyclic bidirectional motion. In the presented CVT design, a second sphere is added to the system with two springs from the lower part of the cones for pre-tension in order to solve the bidirectional transmission problem. Additionally, an adjustment of the normal force applied on the cones is designed in order to regulate the shock absorption limitations.Master Thesis Design of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications(Izmir Institute of Technology, 2018) Yaşır, Abdullah; Dede, Mehmet İsmet Can; Kiper, Gökhan; Kiper, Gökhan; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn minimally invasive surgery, use of robotic manipulators is becoming more and more common in order to have more precise operations and better post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient’s body. Since the manipulator should move about the pivot point, it should have a remote center of motion. In this regard, the main objective of this thesis is designing a 3-dof (degrees-offreedom) surgical robotic arm that is capable of 2R1T (R: rotation, T: translation) motion pattern and is structured as a remote center of motion mechanism for minimally invasive surgery applications. First, the structural synthesis of a 3-dof manipulator with 2R1T motion pattern is performed. The synthesized structures also can be used for any kind of 2R1T-type applications. Then, the manipulators with various kinematic structures are evaluated for a transnasal surgery according to several evaluation criteria such as feasibility of construction for a remote center of motion mechanism, ease of balancing, number of links, structural symmetry, decoupling of the joint inputs and the output motion of the platform and the number of actuators connected to the base. The best option is evaluated as a parallel manipulator with two 1 F0-system and one 1 F0-1 F∞-system leg structures. Afterwards, kinematic analysis of the spatial parallel manipulator is formulated with a simplified kinematic model consisting of three intersecting planes so that dimensional design is done for a desired dexterous workspace. Finally, constructional design is completed and a prototype is manufactured and tested.Master Thesis Teleoperation System Desing of a Robot Assisted Endoscopic Pituitary Surgery(Izmir Institute of Technology, 2018) Ateş, Gizem; Dede, Mehmet İsmet Can; Ateş, Gizem; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03.04. Department of Computer Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyTeleoperation, also named telerobotics, is defined as controlling a robot over a distance by a remote controller. In a teleoperation setting, the human operator controls the master system(s) to the slave system(s) via wired or wireless communication channel. Genarally, in bilateral teleoperation, the human operator is informed about the slave environment via feedback signals (haptic, visual or audio) sent back from the slave environment. Commonly, teleoperated systems are more preferable in hazardous environments to protect the human operator; neverthless, there many other fields where the teleoperated systems are employed for various tasks. one of these areas, where teleoperation technology is becoming more popular,is the medical area. Telesurgical equipments allow more precise performance than a humman can achieve especially in minimally invasive surgeries. The purpose of this thesisis to develop a novel teleoperation system architecturewhich will be used to support the endoscopic pituitary surgery procedures which are classified under minimally invasive surgeries. Even though, the surgeon has only two hands, the proposed system aims to enable the surgeon to operate with three different surgical tools simultaneously including the endescope. he type of work is categorized under collaborative surgical robots, which incorporates a teleoperation system setup. he master control unit is a ring-shaped remote controller which consists of an inertial measurement unit and a wireless module. Surgeon wears the master system during the operation while holding a surgical tool such as the aspirator, and delivers the voluntary commands to the slave system by triggering a food pedal. The slave is the endescope holder robot which is a 8 degrees-of-freedom manipulator whose 3 degrees-of-freedom are active and the rest of them are passive. here is also an indicator panel which is used to provide visual feedback to the surgeon indicating the states of the surgey and excessive force application on the tissue.Master Thesis Optimal Design of a Kinesthetic Haptic Device Mechanism for Enhancing Its Impedance Characteristics(Izmir Institute of Technology, 2018) Görgülü, İbrahimcan; Kiper, Gökhan; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIn this work, the optimal design of modified version of 3 degrees of freedom RCUBE mechanism has been studied in order to develop a high-performance haptic device mechanism. A high-performance haptic mechanism is achieved by having high transparency and high-frequency range. These two properties are determined by the mechanical impedance of the mechanism. Hence, to increase the quality of a haptic mechanism, its mechanical impedance performance must be enhanced. This refers to have low inertia, low friction, high back-drivability, high force output, high structural stiffness, and high manipulability for the mechanism. All these properties are designated by kinematic, stiffness, and dynamic properties of the mechanism. Hence, as a first step of this thesis, kinematic, stiffness and dynamic models of the mechanism are analytically procured. The analytical model of stiffness is achieved via the virtual joint method. Then, in order to obtain the objective function for the design procedure, performance metrics affecting the above-mentioned properties are reviewed and produced. Since these metrics have common parameters such as link lengths and the cross-section area of the links, there is a highly non-linear and contradictory relationship between the metrics. In order to deal with the non-linearity and to determine the global optimum design, an evolutionary optimization method, genetic algorithm, is preferred. The optimization time is reduced by investigating the most critical poses of the workspace and reducing the performance metrics to simpler forms. The link lengths and the cross-section areas are optimized. Carbon fiber tubes are used as links. The Pareto-front solution set is obtained as a result of the optimization procedure.Finally, an optimal solution is proposed and evaluated for the design of this modified R-CUBE mechanism to be used in haptic applications.
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