Görgülü, İbrahimcan
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Görgülü, I.
Gorgulu, Ibrahimcan
Görgülü, Ibrahimcan
Gorgulu, Ibrahimcan
Görgülü, Ibrahimcan
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03.10. Department of Mechanical Engineering
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13
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69
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4
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9
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52
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17
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5
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28423/6042
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1
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1
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52
Scopus Citation Count
69
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3.06
Scopus Citations per Publication
4.06
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12
Supervised Theses
2
| Journal | Count |
|---|---|
| Mechanism and Machine Theory | 3 |
| Mechanisms and Machine Science | 2 |
| EuCoMeS 2018: Proceedings of the 7th European Conference on Mechanism Science | 2 |
| Machines | 1 |
| Mechanism and Machine Science: Select Proceedings of Asian MMS 2018 | 1 |
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Now showing 1 - 10 of 17
Article Citation - WoS: 24Citation - Scopus: 30Time Efficient Stiffness Model Computation for a Parallel Haptic Mechanism Via the Virtual Joint Method(Elsevier, 2020) Carbone, Giuseppe; Görgülü, İbrahimcan; Dede, Mehmet İsmet CanHaptic devices are used for displaying a range of mechanical impedance values to the user. This impedance is regulated by a real-time control loop depending on the position information of the end-effector, which is usually acquired indirectly by using forward kinematics equations. Nevertheless, the kinematic model is insufficient to obtain accurate values if there are non-negligible compliant displacements. This gives a strong motivation for implementing a real-time stiffness model in the haptic control loop for improving its accuracy. Additionally, stiffness performance indices can be used at the design stage for enhancing the haptic devices impedance range within optimal design procedures. Fast solutions of a stiffness model are required for a real-time control as well as for decreasing the optimization time during a design process with a trade-off between accuracy and computational costs. In this study, we propose a computation time-efficient stiffness analysis of a parallel haptic device mechanism. The accuracy and computational costs of the proposed model are calculated and compared with a model that is obtained via a finite element method to demonstrate the effectiveness of the proposed approach with the desired real-time and accuracy performance. (C) 2019 Elsevier Ltd. All rights reserved.Article Citation - WoS: 11Citation - Scopus: 11A New Stiffness Performance Index: Volumetric Isotropy Index(MDPI, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet CanA new index for a precise calculation of a manipulator's stiffness isotropy is introduced. The proposed index is compared with the conventionally used stiffness isotropy index by making use of the investigation on R-CUBE manipulator. The proposed index is shown to produce relatively more precise results from which a higher number of isotropic poses are detected.Conference Object Experimental Verification of Quasi-Static Equilibrium Analysis of a Haptic Device(Azerbaijan Committee of International Federation, 2017) Görgülü, İbrahimcan; Maaroof, Omar Waleed Najm; Taner, Barış; Dede, Mehmet İsmet Can; Ceccarelli, MarcoHIPHAD v1.0 is a kinesthetic haptic device which was designed and manufactured in IzTech Robotics Laboratory. In this work, the quasi-static equilibrium analysis is carried out by including the gravitational effects. The calculations are verified through an experimental procedure and the results are presented to characterize the device performance.Article Citation - WoS: 1Citation - Scopus: 1A New Safe Flexible Torsion Joint Design With Softening Stiffness Characteristics(Pergamon-elsevier Science Ltd, 2025) Gorgulu, Ibrahimcan; Dede, Mehmet Ismet Can; Kiper, GokhanThis paper introduces a novel flexible joint design that enhances mechanical versatility. The design shows how to obtain bidirectional deflections from a unidirectional spring. It enables the parallel and serial connections of springs. It features multiple stiffness regions determined by applied load levels, eliminating the need for a clutch mechanism. Mechanical limits can be added to customize stiffness, offering more hardening or softening regions. The design also allows for connecting multiple flexible joint units in series. In a case study, the series flexible joint design is developed with two flexible joint units, providing a softening stiffness characteristic. The joint has rigid, stiff, and soft regions. When used as a series elastic actuator in a robot manipulator, the rigid region aims to conduct the tasks at low torque levels, i.e., trajectory tracking. The stiff region is preserved for collaborative tasks in human-robot interaction, while the soft region enhances the robot's safety in case of control failure or collision. Static and dynamic test results comply with the ideal model. This flexible joint design improves mechanical performance, safety, and adaptability.Conference Object Haptik Cihaz için İyileştirilmiş Performansa Sahip Robot Tasarımı(Özyeğin Üniversitesi, 2019) Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Sekendiz, Veysel; Kiper, Gökhan; Dede, Mehmet İsmet CanBu bildiri daha önce tasarlanmış bir kinestetik haptik cihazın tasarımının iyileştirilmesi için yapılan çalışmayı içermektedir. Bahsi geçen iyileştirme cihazın empedans aralığının genişletilmesine yöneliktir. Bu başarım kıstasında iyileştirme için yapılan mekanizma eniyileme, pasif dengeleme, konstrüksiyonel tasarımda iyileştirme ve eyleyici sistem tasarımı çalışmaları yürütülmüş ve bu bildiride sunulmuştur.Book Part An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators(Springer, 2021) Görgülü, İbrahimcan; Paksoy, Erkan; Carbone, Giuseppe; Dede, Mehmet İsmet CanIn this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator’s end-effector is coupled with the R-CUBE’s mobile platform. As the gantry manipulator is actuated the resultant reaction forces/moments are measured via a force\torque sensor. Subsequently, compliant displacements of R-CUBE are measured by using a coordinate measuring machine. The obtained results are presented and discussed in this paper. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.Conference Object Citation - WoS: 2Citation - Scopus: 2Function 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 FurkanFunction 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.Doctoral Thesis Robotların Esnekliği: Tasarım, Modelleme ve Kontrol(2024) Görgülü, İbrahimcan; Dede, Mehmet İsmet CanTüm malzemeler bir miktar esneklik sergiler. Sonuç olarak, herhangi bir malzemeden yapılmış bir robot manipülatörü bu yapısal esnekliği miras alır. Tipik olarak esnek robotların konumlandırma doğruluğu daha düşüktür. Bununla birlikte esneklik, kontrollü bir mekanik empedansa ve fiziksel insan-robot etkileşimlerinde artırılmış güvenliğe katkıda bulunduğundan avantajlı da olabilir. Temel zorluk esnek bir robotun giriş/çıkış performansını arttırmaktır. Bu performans büyük ölçüde üç temel bileşene dayanır: robotun mekanik yapısı, denetleyicisi ve denetleyici tarafından kullanılan matematiksel modelin doğruluğu. Bu bileşenlerde yapılan herhangi bir değişiklik veya ayarlama, genel giriş/çıkış performansını etkiler. Bu tez şu üç temel bileşeni kapsamaktadır: model, tasarım ve kontrol. İlk bölüm, çalışma sırasındaki titreşimleri tahmin etmek için aşırı kısıtlanmış bir paralel robot manipülatörünün direngenlik modelinin tasarlanmasına ayrılmıştır. İstenilen yörüngenin (veya girdinin) bu tahminlere göre ayarlanması, çıktı üzerindeki titreşim etkilerinin azaltılmasını mümkün kılar. İkinci kısım da istenilen mekanik empedans için esnek bir mafsal geliştirilir. Bu mafsal, küçük yükler altında esneklik göstermez, ancak etkileşim yükleri arttıkça yu\-mu\-şa\-yan davranışla esner. Mafsal, güvenli fiziksel insan-robot etkileşimlerini sağlarken robotun konumlandırma performansını düşük burulma seviyelerinde korur. Son olarak esnek robot için tasarlanan esnek mafsalı içeren bir denetleyici çerçevesi tasarlanmıştır. Kontrolcü, robotun mekanik durumları (sert ve esnek) arasında istikrarlı geçişler yapma ve istenen görevleri gerçekleştirme (yörünge izleme, istenen empedansı görüntüleme, kuvvet/konum izleme ve güvenliği sağlama) yeteneğine sahiptir.Book Part Citation - Scopus: 5An Experimental Test Procedure for Validation of Stiffness Model: a Case Study for R-Cube Parallel Mechanism(Springer, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Carbone, GiuseppeHaptic device manipulators are used for generating haptic feedback. This feedback is composed of force which is regulated with respect to motion information. Accurate generation of the feedback requires exact position acquisition of the end-effector. Due to the compliant bodies of a manipulator, a stiffness model is needed to predict this position. Previously, Virtual Joint Method was adopted to obtain the stiffness model of an R-CUBE parallel haptic mechanism. In this paper, experimental test setup and experimental procedure are described for validating this stiffness model, its engineering feasibility and soundness of the proposed model.Book Part Citation - WoS: 1Citation - Scopus: 2Experimental Evaluation of Actuation and Sensing Capabilities of a Haptic Device(Springer, 2019) Mobedi, Emir; Görgülü, İbrahimcan; Dede, Mehmet İsmet CanHaptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.