Makine Mühendisliği Bölümü Yayın Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/263
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Article Citation - Scopus: 2Effects of Earthquake Motion on Mechanism Operation: an Experimental Approach(Levrotto and Bella, 2015) Selvi, Ö.; Selvi, Özgün; Ceccarelli, M.; Aytar, E.B.; Makine MühendisliğiThis paper presents an experimental characterization of the effects of earthquakes on the operation of mechanical systems with the help of CaPaMan (Cassino Parallel Manipulator), which is a 3 DOF robot that can fairly well simulate 3D earthquake motion. The sensitivity of operation characteristics of machinery to earthquake disturbance is identified and characterized through experimental tests. Experimental tests have been carried out by using a slider-crank linkage, a small car model, and LARM Hand as test-bed mechanisms that have been sensored with proper acceleration or force sensors. Results are reported and discussed to describe the effects of earthquake motion on the characteristics of mechanism operation as a service application of the robotic CaPaMan system.Article Strengthening Effect of Flooding in 3d Printed Porous Soft Robotics Scaffolds(2021) Arslan, Ozan; Selvi, Özgün; Mıstıkoglu, Selçuk; Totuk, OnatThis study aims to design and 3D print porous elements for soft robotic applications and test the stiffness changes when the cavities are filled with liquids. When an elastic element has porous scaffolds, the stiffness can be controlled by filling the cavities with a liquid. A gyroid structure is selected for the design and evaluation of the characteristics of elements. The stiffness of the element in both non-filled and liquid-filled modes is analyzed using FEM simulation Software in two modes where simple support with central loading and compressive uniform loading. A porous test structure is created and tested in these modes for observation of the stiffness change. Employing an FDM printer in this project enabled us to make our thoughts to reality. The results show that liquid-filling can be used as a stiffening method for porous scaffolds in soft robotic applications.Article Kinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremite(2015) Selvi, Özgün; Al-dulaimi, HasanThis study deals with one of the applications of parallel manipulator as a rehabilitation robot. This device is an over –constrained parallel manipulator 5 degree of freedom with 3 legs. This manipulator consists of a moving platform which is connected to a fixed base via three legs. Each leg is made of RRR(RR) (revolute) joints where the first three joint in all legs are parallel and the recent two joint are intersecting .Inverse kinematics of this device is solved by dividing manipulator into two sub-manipulators with the help of three imaginary joints placed at the intersection of platform joints with a direction parallel to base joints.Conference Object Üç Serbestlik Dereceli Paralel Rehabilitasyon Eyleyicinin Ateş Böceği Algoritması Kullanılarak Boyutsal Olarak Eniyilemesi(2016) Selvi, Özgün; Yavuz, SametBu çalışma, insan bilek eklemi rehabilitasyonunda kullanılacak üç serbestlik derecesine sahip üç bacaklı küresel bir paralel eyleyicinin belirli bir çalışma uzayında çalışmasını sağlayacak boyutsal parametrelerin tespitini amaçlamaktadır. Bahsi geçen eyleyicinin son-elemanı insan bilek ekleminin üç serbestlik derecesini kapsamaktadır. Eyleyicinin her bacağı iki küresel uzva sahiptir ve tüm eklem eksenleri ortak bir noktada kesişmektedir. Eniyileme algoritmasında kullanılmak üzere eyleyicinin ters kinematik denklemleri çözülmüş Jacobi matrisi elde edilmiştir. Daha sonra ters kinematik denklemlerinden ve Jacobi matrisinden elde edilen kısıtlar ateş böceği algoritmasında kullanılarak belirli çalışma alanı için boyutsal eniyileme gerçekleştirilmiştir. Son olarak bu boyutsal parametrelerle bilek hareketleri benzetimlenerek çalışma alanı testi gerçekleştirilmiştir.