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 - WoS: 1Citation - Scopus: 3Reconfigurable deployable umbrella canopies(Institute of Electrical and Electronics Engineers Inc., 2018) Jovichikj, R.; Yaşır, Abdullah; Kiper, GökhanThe 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 Citation - Scopus: 2A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices(Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet CanA 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, KorayScissor 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.Book Part Citation - WoS: 3Citation - Scopus: 4Mechanism Design for Haptic Handwriting Assistance Device(Springer Verlag, 2015) Kiper, Gökhan; Dede, Mehmet İsmet CanOne 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, GökhanThe 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.Book Part Citation - WoS: 1Citation - Scopus: 1A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance(Springer, 2013) Huang, Chintien; Huang, Weiche; Kiper, GökhanThis 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.Book Part Citation - WoS: 3Function Synthesis of the Planar 5r Mechanism Using Least Squares Approximation(Springer, 2014) Kiper, Gökhan; Bağdadioğlu, Barış; Bilgincan, TunçIn this paper, the problem of function generation synthesis of planar 5R mechanism is studied using the least squares approximation method with equal spacing of the design points. The study represents a case study for analytical function generation of multi-degrees-of-freedom systems. The planar 5R mechanism is designed with a fixed input joint and a moving input joint adjacent to the first input, whereas the remaining fixed joint is the output joint. The input/output relationship of the mechanism is expreseed as an objective function in polynomial form with four unknown construction parameters. The objective function involves nonlinearities, however the problem is linearized using Lagrange variables. The linear system is solved and finally the construction parameters of the mechanism are determined. A numerical example is presented as a case study.Book Part Citation - WoS: 9Citation - Scopus: 10Kinematic Design of a Reconfigurable Deployable Canopy(Springer Verlag, 2014) Kiper, Gökhan; Gürcü, Fulya; Korkmaz, Koray; Söylemez, EresA 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.Book Part Citation - WoS: 3Citation - Scopus: 4Function Generation Synthesis With a 2-Dof Overconstrained Double-Spherical 7r Mechanism Using the Method of Decomposition and Least Squares Approximation(Springer, 2014) Kiper, Gökhan; Bağdadioğlu, BarışThis study addresses the approximate function generation synthesis with an overconstrained two degrees-of-freedom double spherical 7R mechanism using least squares approximation with equal spacing of the design points on the input domain. The 7R mechanism is a constructed by combining a spherical 5R mechanism with a spherical 4R mechanism with distant centers and a common moving link and then removing the common link. This construction allows the analysis and synthesis of the re-sulting single-loop mechanism by decomposing it into fictitious 5R and 4R loops. The two inputs to the mechanism are provided in the 5R loop and the output is in the 4R loop. The fictitious output of the 5R loop is an input to the 4R loop this intermediate variable is used to also decompose the function to be generated. This decomposition provides the designer extra freedom in synthesis and enables de-creasing the error of approximation. A case study is presented at the end of the study where the 7R de-sign is compared with an equivalent spherical 5R mechanism; hence the advantage of the 7R mecha-nism is demonstrated.