WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
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Book Part Citation - WoS: 1Citation - Scopus: 1A Historical Review of Polyhedral Linkages(Springer, 2024) Kiper, GökhanPolyhedral linkages are linkages that resemble polyhedral shapes at different configurations. This paper summarizes the necessary geometrical fundamentals of polyhedral geometry and presents a historical and critical review of the polyhedral linkage designs available in the literature. Basic definitions of polyhedral geometry and operations are needed to comprehend and design polyhedral linkages. First, early works on polyhedral linkages are presented, where flexible polyhedra with rigid faces and flexible edges are issued. The final part is reserved to conformal polyhedral linkages, which go through shape transformations while plane, dihedral and solid angles are preserved. Conformal polyhedral linkages are examined in four categories: 1) Jitterbug-like linkages with screwing polygonal links connected to each other with dihedral angle preserving links, 2) polyhedral linkages with planar kinematic chains in radial motion planes, 3) polyhedral linkages with planar kinematic chains on faces, that are connected to each other with dihedral angle preserving links, and 4) other conformal polyhedral linkages. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.Conference Object A sustainable association case study: IFToMM member organization Turkey(Springer, 2022) Kiper, Gökhan; Söylemez, EresAs a member of IFToMM founded in 2011, Turkish Machine Theory Association’s (MakTeD) structure has put special emphasis on sustainability of the association and initiated several activities for improving the quality of education and research in mechanism and machine science area, hence supporting the SDG4 Quality Education of the UN. This paper presents the activities and methodologies of MakTeD. The paper starts with a brief history of mechanism and machine science in Turkey. In 10 years MakTeD organized 4 symposiums, 1 conference, 4 summer/winter schools, 8 workshops and hosted an IFToMM Executive Council meeting. Each chapter of the biyearly held National Symposium on Theory of Machines is held by a different university and especially newly established and the universities in relatively smaller cities are prioritized in order to promote those universities and to contribute to development of these universities. Especially the summer/winter schools and workshops have a widespread impact on mechanism and machine science education and research at the universities and institutions. MakTeD also contributes to the community with published books and support programs for young researchers.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, GökhanIdentifying 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; Kalla, Rohit; Kiper, Gökhan; Bandyopadhyay, SandipanThe 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.