WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7150

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Author: search.filters.author.Kiper, GökhanWoS Q: search.filters.wosQuartile.N/A

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Now showing 1 - 10 of 13
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 1
    A Historical Review of Polyhedral Linkages
    (Springer, 2024) Kiper, Gökhan
    Polyhedral 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, Eres
    As 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: 1
    Citation - Scopus: 3
    Reconfigurable deployable umbrella canopies
    (Institute of Electrical and Electronics Engineers Inc., 2018) Jovichikj, R.; Yaşır, Abdullah; Kiper, Gökhan
    The 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: 2
    A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices
    (Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can
    A 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: 1
    Citation - Scopus: 2
    Synthesis of Scalable Planar Scissor Linkages With Anti-Parallelogram Loops
    (Springer Verlag, 2019) Gür, Şebnem; Karagöz, Cevahir; Kiper, Gökhan; Korkmaz, Koray
    Scissor 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: 6
    Citation - Scopus: 3
    A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
    (Springer Verlag, 2018) Tetik, Halil; Kiper, Gökhan
    Identifying 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: 11
    Citation - Scopus: 15
    Position Kinematics of a 3-Rrs Parallel Manipulator
    (Springer Verlag, 2016) Tetik, Halil; Kalla, Rohit; Kiper, Gökhan; Bandyopadhyay, Sandipan
    The 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: 3
    Citation - Scopus: 4
    Mechanism Design for Haptic Handwriting Assistance Device
    (Springer Verlag, 2015) Kiper, Gökhan; Dede, Mehmet İsmet Can
    One 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: 2
    Citation - Scopus: 2
    Motion Synthesis of a Planar Watt Ii Type Six-Bar Mechanism With Two End-Effectors
    (Springer Verlag, 2015) Kiper, Gökhan
    The 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: 1
    Citation - Scopus: 1
    A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance
    (Springer, 2013) Huang, Chintien; Huang, Weiche; Kiper, Gökhan
    This 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.