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Öğe Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot(Korean Soc Precision Eng, 2021) Dilibal, Savas; Sahin, Haydar; Danquah, Josiah Owusu; Emon, Md Omar Faruk; Choi, Jae-WonSoft robotic grippers are required for power grasping of objects without inducing damage. Additive manufacturing can be used to produce custom-made grippers for industrial robots, in which soft joints and links are additively manufactured. In this study, a monoblock soft robotic gripper having three geometrically gradient fingers with soft sensors was designed and additively manufactured for the power grasping of spherical objects. The monoblock structure design reduces the number of components to be assembled for the soft gripper, and the gripper is designed with a single cavity to enable bending by the application of pneumatic pressure, which is required for the desired actuation. Finite element analysis (FEA) using a hyperelastic material model was performed to simulate the actuation. A material extrusion process using a thermoplastic polyurethane (TPU) was used to manufacture the designed gripper. Soft sensors were produced by a screen printing process that uses a flexible material and ionic liquids. The grasping capability of the manufactured gripper was experimentally evaluated by changing the pneumatic pressure (0-0.7 MPa) of the cavity. Experimental results show that the proposed monoblock gripper with integrated soft sensors successfully performed real-time grasp detection for power grasping.Öğe The Modular Nonoverlapping Grasp Workspaces and Dynamics for the Grippers using the Micro and Macro C-Manifold Design(Natl Inst Science Communication-Niscair, 2021) Sahin, HaydarThe toolbox for the gripper workspace analyses using Lie algebra is developed for shape variables (alpha(1- 4) - theta(1,2)) of the skew revolute joints. The unique methodology for grippers comprises to enable the variety of manifold analyses for kinematics and dynamics using symbolic mathematics. The Controllable Instantaneous Screw Axes (C-ISA) are defined through the shape variables considering the twists of the skew revolute joints se(3). The derivation and analyses of the kinematics and dynamics equations are made possible using the developed methodology with the defined constraints for gripper mechanisms. The Modular Gripper with Lie Algebra Toolbox (M-GLAT) is developed for the defined constraints of the angle between C-ISA 1 and C-ISA 2. The novelty subject of this article is the development of the M-GLAT method for derivation of the constraint based workspaces with the shape variables (alpha(1- 4) - theta(1,2)) in the field of the spatial 2-RR gripper mechanisms. The gripper dynamics with constraint based workspaces of the skew revolute joints are developed for varied configurations of alpha(1- 4) with ICs of theta(1,2). The modular rule-based workspaces are analyzed for the shape variables of the (alpha(1- 4) - theta(1,2)) with the task spaces. This design produces dexterity with the modular grasp workspaces for the gripper fingers with skew revolute joints. One can select a combination of C-manifolds of (pi/20, pi/40, pi/80) for the requirement of the nonoverlapping workspaces of the gripper finger designs as the grasp surfaces to control. The modular nonoverlapping workspace design with dynamics herein is based on the shape variables (alpha(1- 4) - theta(1,2)) using skew revolute joint which produce the high dexterity for the grasping capability of the grippers. The modular micro and macro C-manifold designs obtained the constraint based workspace algorithms of the 2-RR gripper which is expandable into the higher modular revolute joints of the n-R for the grippers. The n-R modular expandable grippers are increasing the precision and power grasping capability.Öğe A novel design on polymeric material recycling technology(Univ Estadual Maringa, Pro-Reitoria Pesquisa Pos-Graduacao, 2021) Tanriver, Kursat; Dilibal, Savas; Sahin, Haydar; Kentli, AykutThe necessity for recycling of wastes has increased nowadays and there are various solutions according to the types of wastes which are presented accordingly. By observing these solutions, the recycling system from the waste collection and separation system of the long-term disappearing of polymer waste to the additive manufacturing design stage has been indicated. Waste collection and separation systems have been reviewed and systems to be used effectively in the systematic way have been exemplified. Among four different separating systems which are with rotating, rail and fixed containers, fixed container four-sorting waste separation systems were chosen and developed as a mechatronic system design. The mechatronic system design is very prominent in order to create efficient and economical mechanisms in fixed-container four-sorting waste separation collection system (FCWS) applications. In addition, physical mechatronic system design (MSD), mechanical design, material selection, electrical electronic design sub-heading and cost analysis were made. In this study, the necessity and importance of the waste separation plants are revealed.Öğe Robot grasping and regrasping kinematics using Lie algebra, the geodesic, and Riemann curvature tensor(Polska Akad Nauk, Polish Acad Sciences, 2023) Sahin, HaydarDifferential geometry is a strong and highly effective mathematical subject for robot grip-per design when grasping within the predetermined trajectories of path planning. This study in grasping focuses on differential geometry analysis utilizing the Lie algebra, geodesic, and Riemann Curvature Tensors (RCT). The novelty of this article for 2RR robot mechanisms lies in the approach of the body coordinate with the geodesic and RCT. The importance of this research is significant especially in grasping and regrasping objects with varied shapes. In this article, the types of workspaces are clarified and classified for grasping and regrasping kinematics. The regrasp has not been sufficiently investigated of body coordinate systems in Lie algebra. The reason for this is the difficulty in understanding relative coordinates in Lie algebra via the body coordinate system. The complexity of the equations has not allowed many researchers to overcome this challenge. The symbolic mathematics toolbox in the Maxima, on the other hand, aided in the systematic formulation of the workspaces in Lie algebra with geodesic and RCT.The Lie algebra se(3) equations presented here have already been developed for robot kinematics from many references. These equations will be used to derive the following workspace types for grasping and regrasping. Body coordinate workspace, spatial coordinate workspace with constraints, body coordinate workspace with constraints, spatial coordinate workspace with constraints are the workspace types. The RCT and geodesic solutions exploit these four fundamental workspace equations derived using Lie algebra.