WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
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Article Citation - WoS: 1Citation - Scopus: 1A New Safe Flexible Torsion Joint Design With Softening Stiffness Characteristics(Pergamon-elsevier Science Ltd, 2025) Dede, Mehmet İsmet Can; Görgülü, İbrahimcan; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThis paper introduces a novel flexible joint design that enhances mechanical versatility. The design shows how to obtain bidirectional deflections from a unidirectional spring. It enables the parallel and serial connections of springs. It features multiple stiffness regions determined by applied load levels, eliminating the need for a clutch mechanism. Mechanical limits can be added to customize stiffness, offering more hardening or softening regions. The design also allows for connecting multiple flexible joint units in series. In a case study, the series flexible joint design is developed with two flexible joint units, providing a softening stiffness characteristic. The joint has rigid, stiff, and soft regions. When used as a series elastic actuator in a robot manipulator, the rigid region aims to conduct the tasks at low torque levels, i.e., trajectory tracking. The stiff region is preserved for collaborative tasks in human-robot interaction, while the soft region enhances the robot's safety in case of control failure or collision. Static and dynamic test results comply with the ideal model. This flexible joint design improves mechanical performance, safety, and adaptability.Conference Object Citation - WoS: 2Citation - Scopus: 2Function Generation Synthesis of Planar Slider-Crank Linkages for Given 3 Positions and a Dead-Center Position(Springer Verlag, 2020) Kiper, Gokhan; Gorgulu, Ibrahimcan; Görgülü, İbrahimcan; Kiper, Gökhan; Küçükoğlu, Sefa Furkan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyFunction generation for finitely many positions and dead-center design problems are generally separately handled in the literature. This paper presents a mixed formulation for planar slider-crank linkages where three precision points and a folded or extended dead-center position are to be satisfied. The formulation results in an 8th degree univariate. Examples show that generally there are four real solutions, only two of which result in distinct solutions.