WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
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Conference Object Citation - Scopus: 2A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices(Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyA 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: 1Citation - Scopus: 2Synthesis of Scalable Planar Scissor Linkages With Anti-Parallelogram Loops(Springer Verlag, 2019) Gür, Şebnem; Karagöz, Cevahir; Kiper, Gökhan; Korkmaz, Koray; Korkmaz, Koray; Gür, Şebnem; 02.02. Department of Architecture; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology; 02. Faculty of ArchitectureScissor 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 - WoS: 6Citation - Scopus: 3A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator(Springer Verlag, 2018) Tetik, Halil; Kiper, Gökhan; Kiper, Gökhan; Tetik, Halil; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIdentifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.Conference Object Citation - WoS: 11Citation - Scopus: 15Position Kinematics of a 3-Rrs Parallel Manipulator(Springer Verlag, 2016) Tetik, Halil; Kiper, Gökhan; Tetik, Halil; Bandyopadhyay, Sandipan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThe 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. Moving platform has two rotational and one translational degrees-of-freedom. This study formulates the forward and inverse kinematics of the parallel manipulator. A 16-degree polynomial in terms of one of the passive joint variables is obtained for the forward kinematic analysis. Numerical results and the corresponding pose of the manipulator for inverse and forward kinematics are presented.Book Part Citation - WoS: 3Citation - Scopus: 4Mechanism Design for Haptic Handwriting Assistance Device(Springer Verlag, 2015) 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 TechnologyOne 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.Book Part Citation - WoS: 2Citation - Scopus: 2Motion Synthesis of a Planar Watt Ii Type Six-Bar Mechanism With Two End-Effectors(Springer Verlag, 2015) Kiper, Gökhan; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThe study deals with motion generation with closed-loop mechanisms with several end-effectors. As a case study a single degree-of-freedom planar Watt II type six-bar mechanism with two end-effectors is worked on. Dyad formulation with complex numbers is made use of for the mathematical model. It is found that the motion synthesis is possible for at most three poses of the two end-effectors. The formulations are illustrated with numerical examples.Article Citation - WoS: 7Citation - Scopus: 8Polyhedral Linkages Obtained as Assemblies of Planar Link Groups(Springer Verlag, 2013) Kiper, Gökhan; Kiper, Gökhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyThe study aims to devise means of obtaining polyhedral linkages for homothetic deployment of polyhedral shapes by embedding planar link groups in faces of the polyhedral shape of interest. The questions of which polyhedral shapes may be suitable for such a pur-pose and what are the compatibility conditions for spatially assembling planar link groups are addressed. Homohedral and tangential polyhedral shapes are found to be suitable for the task and some examples of linkages are worked out.Book Part Citation - WoS: 9Citation - Scopus: 10Kinematic Design of a Reconfigurable Deployable Canopy(Springer Verlag, 2014) Kiper, Gökhan; Gürcü, Fulya; Korkmaz, Koray; Kiper, Gökhan; 02.02. Department of Architecture; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology; 02. Faculty of ArchitectureA reconfigurable and deployable mechanism is proposed for a canopy which can also be used as a tent or a semi-open structure. The proposed single degree-of-freedom mechanism has four as-sembly modes. The conditions for deployment and reconfiguration of the mechanism are derived. These conditions impose three equality and two inequality constraints on the 11 design parameters of the mechanism. A virtual model of the mechanism is constructed in Excel for design and simulation purposes. A computational case study is presented.