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Browsing by Author "Kiper, Gökhan"
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3-RRS paralel manipülatörün dinamik analizi
Tetik, Halil; Kiper, Gökhan (Makina Teorisi Derneği, 2017-07-05)Bu çalışmada, İzmir Yüksek Teknoloji Enstitüsü Rasim Alizade Mekatronik Laboratuvarında bulunan, 3-RRS kinematik zincir yapısına sahip 3 serbestlik dereceli bir paralel manipülatörün dinamik analizi sunulmuştur. Öncelikle ... -
Alternating error effects on decomposition method in function generation synthesis
Maaroof, Omar W.; Dede, Mehmet İsmet Can; Kiper, Gökhan (Springer, 2017)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 ... -
Aşırı kısıtlı bir mekanizmanın kalibrasyonunda saklı robot kavramının uygulanması
Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Mastar, Ercan; Sığırtmaç, Tayfun (2014-11-21)Aşırı kısıtlı mekanizmaların sağladığı direngenlik, hafif yapı gerektiren ve bunun yanında yüksek seviyede kuvvetlere maruz kalınan uygulamalarda yüksek hassasiyet değerlerine ulaşmak için tercih edilebilmektedir. Yapılan ... -
Bakışımsız bir düzlemsel 5R eyleyicisinin bağlama açına göre tasarımı
Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Mastar, Ercan (Makina Teorisi Derneği, 2015-06-14)İki serbestlik dereceli düzlemsel 5R (R: döner mafsal) mekanizmasının uç noktasının işlevsel çalışma alanına göre mekanizma tasarımı çok farklı başarım ölçütlerine göre yapılabilmektedir. Bu çalışmada uç noktasının yerleşimi ... -
Bir ameliyat robotunun denetimi için basitleştirilmiş dinamik modeli
Ayit, Orhan; Yaşır, Abdullah; Vardarlı, Eren; Kiper, Gökhan; Dede, Mehmet İsmet Can (Otomatik Kontrol Türk Milli Komitesi, 2018-09)Bu çalışmanın temel konusu minimal invaziv tipi bir ameliyat olan endoskopik hipofiz tümörü ameliyatında kullanılan endoskopun hareket denetimi için geliştirilen robotik sistemdir. Geliştirilen sistemin bu bildiride ele ... -
Cerrahın anlık yönlendirilebildiği robot yardımlı endoskop kontrol sistemi mimarisi - NeuRoboScope
Dede, Mehmet İsmet Can; Kiper, Gökhan; Ayav, Tolga; Tatlıcıoğlu, Enver; Özdemirel, Barbaros; Maaroof, Omar; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin (Boğaziçi Üniversitesi, 2018-04-12)Bu bildiride ele alınan çalışmada endoskopik hipofiz cerrahisinde kullanılan optik-kamera sistemini, cerrahın anlık isteklerini takip ederek yönlendirilmesine izin verecek robotik sistem geliştirilmektedir. Cerrah kendisi ... -
A closed-form solution of spatial sliders for rigid-body guidance
Huang, Chintien; Huang, Weiche; Kiper, Gökhan (Springer, 2013-10-16)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 ... -
Computing the safe working zone of a 3-RRS parallel manipulator
Patel, Dhruvesh; Kalla, Rohit; Tetik, Halil; Kiper, Gökhan; Bandyopadhyay, Sandipan (Springer, 2017)Determination of the safe working zone (SWZ) of a parallel manipulator is a one-time computational task with several permanent benefits. As this subspace of the workspace of the manipulator is free of both the loss- and ... -
Conceptual design of a 2-DoF planar high-speed industrial parallel manipulator
Uzunoğlu, Emre; Özkahya, Merve; Paksoy, Erkan; Taner, Barış; Dede, Mehmet İsmet Can; Kiper, Gökhan (Springer, 2019-09)This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated ... -
Control of mechanical joints that have joint clearance
Gündüzalp, Gün (Izmir Institute of Technology, 2015-03)Joint clearance is a defect that is present in all mechanical joints in every mechanism. Joint clearances for revolute joints result from the relatively small difference between the dimensions of diameters of two concentric ... -
A critical review of unpowered performance metrics of impedance-type haptic devices
Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can (Springer, 2019)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 ... -
Derivation of input/output relationships for the Bennett 6R linkages based on the method of decomposition
Alizade, Rasim; Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre (Springer, 2014)The Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing ... -
Design alternatives of network of Altmann linkages
Atarer, Fulya; Korkmaz, Koray; Kiper, Gökhan (WIT Press, 2017-06)This paper presents a method of building deployable network assemblies derived from the single degree of freedom (DoF) over constrained Altmann linkage as a basic module. The method is based on assembling linkages with ... -
Design and analysis of a parallel mechanism for kinematically redundant hybrid planar laser cutting machine
Dede, Mehmet İsmet Can; Gezgin, Erkin; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, Tayfun; Uzunoğlu, Emre (UMTIK, 2014)Conventional planar laser cutting machines cannot achieve high accelerations, because the required precision values cannot be achieved due to the high inertial loads. Machines configured as kinematically redundant mechanisms ... -
Design and experimental evaluation of a dynamically balanced over-constrained planar 6R parallel manipulator
Özkahya, Merve (Izmir Institute of Technology, 2019-07)With the development of the industry, the number of robots used in the production line is increasing day by day. Particularly, it is known that parallel robots are better in terms of positioning accuracy compared to ... -
Design and simulation of a novel hybrid leg mechanism for walking machines
Demirel, Murat; Carbone, Giuseppe; Ceccarelli, Marco; Kiper, Gökhan (Springer, 2018-06-06)This 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 ... -
Design modification of a front window mechanism for the cabin of an earth moving machine
Jovichikj, Radomir (Izmir Institute of Technology, 2017-07)This thesis study investigates the front window mechanism used in an earth moving machinery. Since the mechanism is actuated by the operator, the required actuation force for the mechanism needs to be as minimum as ... -
Design of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications
Yaşır, Abdullah (Izmir Institute of Technology, 2018-07)In minimally invasive surgery, use of robotic manipulators is becoming more and more common in order to have more precise operations and better post-operative processes. Such operations are often performed through an ... -
Design of a cable-driven four-bar mechanism for arm rehabilitation
Eraz, Talha; Kiper, Gökhan (Springer, 2017)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 ... -
Design of a deployable structure to be used as temporary ramp
Doğan Kumtepe, Elvan (Izmir Institute of Technology, 2017-12)Portable ramps, used generally by wheelchair users, offer temporary solution to increase accessibility and mobility. It is expected that these ramps should be compact and lightweight in terms of ease of handling and storage. ...
