Yazar "Dilibal, S." seçeneğine göre listele
Listeleniyor 1 - 7 / 7
Sayfa Başına Sonuç
Sıralama seçenekleri
Öğe Additively Manufactured Soft Pneumatic Gripper Integrated Remotely Operated Underwater Vehicle (ROV) for Grasping Archeological Remains(Institute of Electrical and Electronics Engineers Inc., 2023) Gulnergiz, E.T.; Dilibal, S.; Gormus, B.; Danquah, J.O.; Emon, O.F.The use of Remote Operated Vehicles (ROVs) in underwater research has become widespread. However, conventional gripper systems are often inadequate for handling delicate underwater objects, such as archaeological artifacts. This study presents the development and integration of a soft pneumatic gripper into a ROV system, specifically designed for underwater archaeological applications. The soft gripper offers adaptability and compliance, ensuring safer and more precise grasping of fragile items. The manufactured soft force sensor is incorporated into the soft pneumatic gripper for tactile feedback, minimizing the risk of damage during handling. The gripper system also includes a pneumatic cylinder for extending its reach during grasping. Using Abaqus Finite Element Software, preliminary simulations were made to study the contact forces exerted by the gripper jaws. The numerical results, based on static non-linear analysis demonstrated the soft gripper's effectiveness, adaptability, and reliability on force feedback in land-based and underwater scenarios. This research contributes to the advancement of robotics for underwater archaeology by providing a soft pneumatic gripper system that enables safe and efficient handling of delicate artifacts. © 2023 IEEE.Öğe Data-Driven Generative Design Integrated with Hybrid Additive Subtractive Manufacturing (HASM) for Smart Cities(Springer, 2021) Dilibal, S.; Nohut, S.; Kurtoglu, C.; Owusu-Danquah, J.Generation of smart cities that considers environmental pollution, waste management, energy consumption and human activities has become more important in recent years since it was first introduced in the 1990s. In the smart cities, most of the structures, machines, processes and products will be redesigned in terms of technological developments linked to the fourth industrial revolution, Industry 4.0. This situation introduces the need of new design models that address extended significant parameters for manufacturing. Data-driven generative design methodology is an algorithmic design approach for developing state-of-the-art designs. Generative design may give the decision-makers more sustainable optimized project solutions with the iterative algorithmic process. Many parameters and constraints can be taken into consideration during the designing process, such as lightness, illumination, solar gain, durability, cost, sustainability, mass, factor of safety, mechanical stresses, resilience etc. In the generative design, an iterative process occurs via cyclic algorithm from ideation to evaluation to reveal possible potential design solutions. The increase in design freedom and complexity boosts the importance of new generation manufacturing methods. Hybrid additive subtractive manufacturing (HASM), a key component of Industry 4.0, offers tailored and personalized production capabilities by combining additive and subtractive processes in the same production unit. In today’s digital era, there is a growing need to create an integrated data-driven digital solution which consists of a multidisciplinary functional design integrated with hybrid additive subtractive manufacturing. Generative design integrated with hybrid additive subtractive manufacturing approach offers creating functional multi-criteria-based product combinations with sustainable organic mechanisms for engineering purpose. Alternatively, this approach provides dozens of different solutions for their studies considering multi-criteria, such as determining the convenient sunlight angles for walkways, computing optimum dimensions of smart structures, enabling transportation vehicles to pass underground or bridges etc. The main objective of this chapter is to introduce the importance of generative design and hybrid additive subtractive manufacturing for smart cities and present the critical advantages of a data-driven generative design concept algorithm integrated with hybrid additive subtractive manufacturing approach that will increase the speed of transition to smart cities. This chapter discusses a concept that integrates hybrid additive subtractive manufacturing with a data-driven generative design for the reliable, cost effective and sustainable design of components that can be used for establishment of secure smart cities. After conceptual explanations, the main aim and advantages of the concept are realized by a case study which is about the design of a drone chassis. A drone chassis is selected as a case study since drones will be used extensively for mainly security and logistics purposes in smart cities and design of drone chassis can be optimized by the proposed concept. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.Öğe Experimental and Numerical Analysis of Additive Manufactured Pneumatic Artificial Muscle Hand Rehabilitation Orthosis(Institute of Electrical and Electronics Engineers Inc., 2022) Gulnergiz, E.T.; Dilibal, S.When the studies in the field of robotic hand rehabilitation were examined, it was seen that most of the studies were mainly focused on the hand / finger flexion movement. Hand/finger extension studies however were mainly suggesting a unilateral and complicated system which also do not offer possibility of active exercise. The proposed PAM (Pneumatic Artificial Muscle) was designed, and additive manufactured as a direct drive hand orthosis and analyzed by FEA (Finite Element Analysis) method. After the production stage, the orthosis was also analyzed by empirical methods and non-parametric models were created based on the results. The analyses were compared and interpreted with graphs and the results were found to be consistent. © 2022 IEEE.Öğe Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot(Institute of Electrical and Electronics Engineers Inc., 2022) Dilibal, S.; Gulnergiz, E.T.; Pagliarani, N.; Donato, E.; Iori, F.; Setti, E.; Falotico, E.The demand for Li-ion batteries is growing due to the increasing use of electrical devices. Thus, increasing the automation of their assembly lines is crucial to improve their production. In this work, a pneumatic soft gripper is additively manufactured and integrated in a collaborative robot to accomplish Li-ion batteries grasping and releasing. Due to the material properties, such gripper provides safe interaction and intrinsic adaptability. However, modelling and control of soft grippers are challenging. We opt for a computational FEM model to generate a detailed representation of the interaction, and a proximity sensor is embedded in one of the two soft fingers to close the control loop and detect contacts. Contact forces have been experimentally evaluated, and control parameters have been empirically defined. © 2022 IEEE.Öğe Mechatronic System Design of A Smart Mobile Warehouse Robot for Automated Storage/Retrieval Systems(Institute of Electrical and Electronics Engineers Inc., 2020) Ozbaran, C.; Dilibal, S.; Sungur, G.Smart mobile warehouse robots are widely used in varied industries for increasing the digitalization of the storage and retrieval systems and decreasing the number of workers in warehouses. In this study, the mechatronic system design of a smart mobile warehouse robot is systematically built for automated storage/retrieval system (AS/RS). Each subsystem of the mechatronics design is shaped based on the storage and retrieval tasks. The developed smart mobile warehouse robotic system consists of mechanical, electric-electronic and control subsystems. The mechanical subsystem which consists of telescopic mechanism, scissor lift mechanism, mechanical chassis, and robotic gripper system is integrated to the electric-electronic and control subsystems. Furthermore, the drive system parameters are calculated analytically after creating the motion equations and state-flow diagram for the control subsystem. Structural analyses are conducted using computer-aided simulation programs. Additionally, the robot motion function tests have been explained for the developed smart mobile warehouse robot. © 2020 IEEE.Öğe Piezoelectric Force Sensor-based Measurement System for Recoil Force Analysis(Institute of Electrical and Electronics Engineers Inc., 2021) Ilter, I.S.; Dilibal, S.; Zengin, H.In this study, a piezoelectric force sensor-based experimental recoil force analysis was performed via examining the formation and effects of recoil forces after overviewing the related experimental studies in the literature. The experimental measurement and the analysis of the recoil forces of the selected shotguns were carried out systematically after selecting the accurate piezoelectric force sensor for the dynamic performance of the recoil mechanism. The experimental setup required for the measurement was built via integrating the selected piezoelectric force sensor, signal conditioner, data acquisation card with a software developed in Visual Basic.NET software language. A developed measuring apparatus was designed to measure the dynamic recoil forces of different shotgun system. The selected piezoelectric force sensor can detect the recoil forces with 36 kHz measurement capacity. All of the data were recorded in real-time. The recorded data were examined, and analyzed comparatively. The collected measurement results are evaluated according to the recoil mechanisms, barrel lengths, weights, and other effective parameters that may affect the recoil forces in the experimental analysis. It was observed that the shotgun that spreads the recoil force over time reduces the peak point and has minimum total recoil energy among the gas cycle, inertia and hybrid shotguns with 71cm barrel length and included 12GA caliber. © 2021 IEEE.Öğe Shape memory alloy tube actuators inherently enable internal fluidic cooling for a robotic finger under force control(IOP Publishing Ltd, 2020) Ades, C.J.; Dilibal, S.; Engeberg, E.D.This paper presents the design, control and evaluation of a novel robotic finger actuated by shape memory alloy (SMA) tubes which intrinsically afford an internal conduit for fluidic cooling. The SMA tubes are thermomechanically programmed to flex the robotic finger when Joule heated. A superelastic SMA plate provides a spring return motion to extend the finger when cooling liquid is pumped through the internal channel of the SMA tube actuators. The mechanical design and nonlinear force controller are presented for this unique robotic finger. Sinusoidal and step response experiments demonstrate excellent error minimization when operated below the bandwidth which was empirically determined to be 6 rad s-1. Disturbance rejection experiments are also performed to demonstrate the potential to minimize externally applied forces. This method of internal liquid cooling of Joule heated SMA tubes simultaneously increases the system bandwidth and expands the potential uses of SMA actuators for robotic applications. The results show that this novel robotic finger is capable of precise force control and has a high strength to weight ratio. The finger can apply a force of 4.35 N and has a mass of 30 g. Implementing this design into wearable prosthetic devices could enable lightweight, high strength applications previously not achievable. © 2020 IOP Publishing Ltd.
