WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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

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Institution Author: search.filters.institutionAuthor.Kiper, GökhanPublisher: search.filters.publisher.Springer Verlag

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Now showing 1 - 10 of 13
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 2
    Function Generation Synthesis of Planar Slider-Crank Linkages for Given 3 Positions and a Dead-Center Position
    (Springer Verlag, 2020) Kiper, Gokhan; Gorgulu, Ibrahimcan; Kucukoglu, Sefa Furkan
    Function 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.
  • 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
    Design of a Cable-Driven Four-Bar Mechanism for Arm Rehabilitation
    (Springer Verlag, 2017) Eraz, Talha; Kiper, Gokhan
    This paper presents the design of an assistive mechanism to be used for the rehabilitation of human arm. First the motions of two types of rehabilitation exercises are described. The motions are planar motions, so a planar four bar mechanism is designed. The synthesis problem is formulated as a three-position synthesis problem. Next, the actuation issue is addressed. Actuation via cables is preferred for better force transmission. The connection point of the cable to the mechanism is optimized considering the curvature of the coupler point curve. Finally, multiple pulleys are designed for enhancing force transmission.
  • Conference Object
    Path Generation Synthesis of Planar Double-Slider Linkages Via the Elliptic Coupler Curve
    (Springer Verlag, 2017) Kiper, Gokhan; Akbalcik, Almina; Sen, Zehra Betul
    The path generation synthesis of a double-slider linkage is performed for a given elliptic curve. It is shown that there are infinity(2) linkages that can trace the same ellipse. The formulation for obtaining all such linkages is presented. The formulation sheds light for the design of the planar slider-crank and four-bar linkages from the given algebraic form of the coupler path curve as well.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 1
    Alternating Error Effects on Decomposition Method in Function Generation Synthesis
    (Springer Verlag, 2017) Maaroof, Omar W.; Dede, Mehmet Ismet Can; Kiper, Gokhan
    In approximate function generation synthesis methods, error between the desired function's output and designed mechanism's output oscillate about zero error while crossing the zero error margin at precision points. The common goal of these methods is to minimize the error within the selected working region of the mechanism. For mechanisms like Bennett overconstrained six-revolute jointed linkages that have relatively large number of construction parameters, it is a difficult task to solve for them at once. Decomposition method enables to divide such linkages into two loops and independently solve for each loop with less construction parameters. Although some approximation methods are proven to produce smaller errors than others for a single-loop synthesis, in this work, it is shown that smaller errors are not guaranteed for a certain method when used along with decomposition method. Numerical examples indicate that in decomposition method, more attention should be given to the alternation of the error of each decomposed mechanism, rather than the approximation method used.
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 5
    Computing the SafeWorking Zone of a 3-RRS Parallel Manipulator
    (Springer Verlag, 2017) Patel, Dhruvesh; Kalla, Rohit; Tetik, Halil; Kiper, Gokhan; Bandyopadhyay, Sandipan
    Determination of the safe working zone (SWZ) of a parallel manipulator is a one-time computational task with several permanent benefits. As this sub-space of the workspace of the manipulator is free of both the loss- and gain-type singularities, link interference, as well as physical joint limits, the manipulator can move freely in this space. Moreover, if the natural choice of a convex-shaped SWZ is adhered to, then point-to-point path planning inside the SWZ always has a trivial solution, namely, a segment joining the two points, which is guaranteed to be inside the workspace. In this paper, the SWZ of the 3-RRS existing in the Izmir Institute of Technology has been computed. Starting with the geometry of the manipulator, the loop-closure constraint equations have been derived. The singularity conditions are obtained based on the singularity of certain Jacobian matrices associated with the constraint functions. The interference between the links are detected by first encapsulating the links in rectangular parallelepipeds, which are then discretized into triangles, and subjected to collision tests between the relevant pairs of triangles. Using these theoretical developments, the SWZ is computed. The numerical results are depicted graphically.
  • 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.