Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope ...

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 ...

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 ...

This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in ...

This paper is organized to provide the novel approaches during the design of a machine to shorten the laser cutting process. Macro-micro manipulation concept is employed for the design of this machine both in the mechanical ...

In the industry there is always a demand to shorten the task completion durations in order to maximize the efficiency of the operation. This work aims to provide a solution to minimize the task completion duration for ...

Kinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised ...

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 ...

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 ...

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 ...