Demirel, Murat
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Demirel, M.
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muratdemirel@iyte.edu.tr
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03.10. Department of Mechanical Engineering
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Current Staff
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7
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0.71
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5
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| Journal | Count |
|---|---|
| New Advances in Mechanism and Machine Science: Proceedings of the 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017) | 1 |
| New Trends in Educational Activity in the Field of Mechanism and Machine Theory 2014-2017 | 1 |
| Robotica | 1 |
| Sustainable Aviation | 1 |
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Master Thesis Design of Hybrid Cable-Constrained Parallel Mechanisms for Walking Machines(Izmir Institute of Technology, 2018) Demirel, Murat; Kiper, Gökhan; Demirel, Murat; Kiper, Gökhan; Carbone, GiuseppeThe objective of this thesis study is to propose novel cable-constrained parallel mechanisms for walking machines. According to the literature, hybrid structured parallel mechanisms can overcome mechanical design, control system and workspace limitations compared to other structures. This thesis study introduces two novel hybrid structured leg mechanisms comprising rigid links and passive cables. Kinematic structure of the proposed mechanisms are (UPU-2Pa)-(UPU-2Pa)and (UU-2Pa)-P. Both designs have a hip, a knee and a foot platform. Two rotational constraints about horizontal axes are added to the moving platforms by using parallelograms with passive cables. The rotational constraint about the vertical axis is provided by rigid links and joints. Thus, the proposed designs have pure translational motion. The detailed analysis of the mechanism design with anchored cables is conducted. A CAD model is constructed and a dynamic simulation for human-like gait trajectory is performed in SolidWorks® environment. Once the computed actuator torques and forces are found suitable, a first prototype is built to check the proposed solution. Considering the problems encountered in this first prototype, a second prototype of the (UU-2Pa)-P mechanism is built. The prototype is operated using a real-time PCI controller and experimental results are presented. The mechanisms presented in this thesis is one of the few cable-constrained parallel manipulator designs in the literature. Such a manipulator design is used for a walking machine for the first time. The prototype and test results are quite satisfactory, so hopefully more detailed research can be conducted on this topic in the future.Conference Object Katlanabilir Mafsallı Kafes Direklerin Katlanma Oranlarını Etkileyen Faktörlerin İncelenmesi ve Yeni Bir Tasarım Yönteminin Araştırılması(Makina Teorisi Derneği, 2021) Cebeci, Yunus; Demirel, Murat; Kiper, GökhanBu çalışmanın temel amacı uzay uygulamalarında kullanılan katlanabilir mafsallı kafes direklerin katlanma oranına etki eden parametrelerini incelemek ve katlanma oranını artırıcı iyileştirmeler üzerine araştırmalar yapmaktır. Çalışma kapsamında katlanabilir mafsallı kafes direkleri oluşturan yapılar incelenmiş ve tasarımda kritik rol oynayan uzunluklar belirlenerek ve uzuvlar üzerinde iyileştirme yöntemleri önerilerek katlanma oranının artırılması hedeflenmiştir. Önerilen yöntem ile ön çalışmalar yapılarak literatürdeki benzer katlanabilir direklere kıyasla daha fazla katlanma oranının elde edildiği gösterilmiştir.Conference Object Internship Experience for Learning the Operation of a Cable-Driven Robot for Rehabilitation Tasks(Springer, 2019) Carbone, G.; Cafolla, D.; Ceccarelli, M.; Aydınoğlu, Öndercan; Demirel, MuratThis paper describes an example of internship experience at LARM, Laboratory of Robotics and Mechatronics, at University of Cassino and South Latium. In particular, the main focus of this paper is the learning process as basis of a proper internship. Namely, a specific experiential learning approach is proposed as referring to a low-cost servo motor operation task. The learning task is further defined and developed as referring to a real application with a cable-driven robot for rehabilitation tasks, which has been designed and built at LARM in Cassino and under further investigation within Agewell project.Article Citation - WoS: 5Citation - Scopus: 4Design of a Novel Hybrid Cable-Constrained Parallel Leg Mechanism for Biped Walking Machines(Cambridge University Press, 2023) Demirel, M.; Kiper, G.; Carbone, G.; Ceccarelli, M.In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines. © The Author(s), 2023.Book Part A Critical Review of Deployable Truss Masts and Proposal of a New Mast: Hidam(Springer Nature, 2023) Cebeci, Y.; Demirel, M.; Kiper, G.This paper investigates the factors which affect the packing ratio of deployable articulated truss masts and investigates the necessary design criteria for new designs with enhanced packing ratio. First, the available deployable articulated truss masts are examined, and the design parameters of these structures are worked out. Then a novel design called HiDAM is proposed with superior packing ratio compared to similar ones in the literature. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.Conference Object Citation - Scopus: 3Design and Simulation of a Novel Hybrid Leg Mechanism for Walking Machines(Springer Verlag, 2018) Demirel, Murat; Carbone, Giuseppe; Ceccarelli, Marco; Kiper, GökhanThis paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints and an actuated prismatic foot joint. The foot is the moving platform of the proposed mechanism which possesses pure translational motion due to the passive parallelograms with cables. Kinematic analysis has been worked out for evaluating a typical human-like gait trajectory. A 3-D model has been developed and simulation are made in SolidWorks® environment. Simulation results show that the proposed mechanism is able to perform an ovoid walking cycle of a foot point and the computed actuator torques and forces are in a feasible range for a low-cost and easy-operation design. The simulation results will be used for a prototype construction in a future work.Doctoral Thesis Design, prototyping and testing of modified altmann linkage networks To be used as deployable structures(01. Izmir Institute of Technology, 2024) Demirel, Murat; Kiper, GökhanBu tez çalışması, iki değiştirilmiş Altmann mekanizması ve bunlardan elde edilen katlanabilir ağ yapılar üzerine odaklanmaktadır. Değiştirilmiş mekanizmalar, genel doğru-simetrik Bricard mekanizmasının özel durumlarıdır. Bu mekanizmalar, orijinal Altmann mekanizmasına göre yapısal avantajlara sahip olup değiştirilmiş mekanizmalardan biri özgündür. Her iki mekanizmanın kinematik analizleri yapılmıştır. Bu mekanizmalarla oluşturulan katlanabilir ağ yapılar sınıflandırılmıştır. Ağ yapıların her birinin özellikleri ve hareket davranışlarını açıklamak için iki mekanizmadan biri seçilmiştir. Bazı ağ yapıların üretilmiş prototipleri sunulmuştur. Kubbe benzeri bir katlanabilir ağ yapısı vaka çalışması olarak seçilmiştir. Vaka çalışması, bir katlanabilir çadır mekanizmasının tasarımını, prototip üretimini ve imalat testlerini kapsamaktadır. İki fiziksel prototip tasarımı, yapısal benzetim çalışmaları ve bazı test sonuçları sunulmuştur. Tasarım geometrisinin parametrik modeli geliştirilerek Microsoft Excel®'de tanımlanmıştır. Katı model ortamına (Solidworks®) bu parametrik modelin aktarımını sağlamak için Excel eklentisi olarak özel bir API geliştirilmiştir. İlk prototipin statik yük koşulları altındaki doğrusal olmayan elastik deformasyon davranışını incelemek için benzetimler koşturulmuştur. Ön- ve son-işlemci olarak MSC Apex®, çözücü olarak ise MSC Nastran® kullanılmıştır. Sunulan sonlu eleman modelleri MSC Apex®'in API kütüphanesi kullanılarak oluşturulmuştur. Bu görev için bir başka özel API iş-akışı oluşturulmuştur. İlk prototipin üretimi ve test sonuçları sunulmuş olup ikinci prototipin üretim ve testleri ileriki çalışmalardır.