Robot Teknolojisi Araştırma ve Uygulama Merkezi
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Yayın Soft robotic systems for sustainable biomedical applications(CRC Press, 2025) Dilibal, Savaş; Gülnergiz, Emre TuğberkRecent advances in soft robotics have transformed the biomedical engineering frontier into a new paradigm, where robots are manufactured to be as close to natural organisms as possible in their softness, adaptability, and dexterity. In contrast to the conventional rigid robot, a soft robot uniquely utilizes compliant material intrinsically, hence enabling safer human-robot interaction, higher flexibility, and better wearability of its electronics. This has increased the span of application in biomedical robotics, with the inclusion of flexible fluidic actuators, shape memory alloys (SMAs), cable-driven mechanisms, magnetically driven systems, and soft sensors. Soft robotics for sustainable biomedical applications focuses on innovative human-centric design and manufacturing to improve performance and functionality. The integration of sensors and advanced control algorithms is also crucial to maximizing the autonomy and functionality of these robots in dynamic medical environments. Instead of employing fully rigid components, soft robotics utilize materials that permit required deformation, thereby enabling robotic devices to mimic the fluid and adaptive movement of biological systems. Furthermore, their gentle interactions with soft tissue make them ideal for a wide range of biomedical applications, where they can be used in delicate structures with enhanced surgical equipment. In the biomedical field, soft robotic systems present promising opportunities with a tailored biomedical approach. They demonstrate a novel methodology for less invasive surgical operations, necessitating enhanced patient safety. Additionally, the stiffness variability mechanism diminishes mechanical complexities and offers practical advantages in tailored device development with better human-soft robot interaction. Soft biomedical robotics technology has the potential to transform the development of many traditional biomedical devices with more suitable solutions for interaction with the human body. In the future, this technology will evolve via improving clinical outcomes, increasing sustainable customized human-centric applications, and accelerating advanced AI-driven design and additive manufacturing (AM) solutions.Yayın Design and SLM-based additive manufacturing of customized stainless steel biomedical grippers for surgical applications(Springer Nature, 2025) Dilibal, Savaş; Gülnergiz, Emre Tuğberk; Yurtsever, Özgür; Yerden, Aytaç UğurBiomedical grippers are vital devices in biomedical applications, delicately handling biological specimens or tissues with features such as biocompatible materials, gentle handling mechanisms, sterilization compatibility with corrosion resistant capability. This study explores the development of customized biomedical grippers utilizing selective laser melting (SLM)-based additive manufacturing technology with 316L stainless steel powders. The prototypes of the manufactured two customized stainless-steel grippers function with a 1 mm diameter polyethylene fiber-based actuator that works antagonistically with integrated springs. The use of SLM-based additive manufacturing technology enabled having an innovative mechanical solution with amplified gripping mechanisms. Furthermore, a telescopic handle design for the grippers enhanced the functionality of the overall system to use in surgical applications.Yayın Fabrication and characterization of wire arc additively manufactured ferritic-austenitic bimetallic structure(Korean Institute Metals Materials, 2023) Gürol, Uğur; Turgut, Batuhan; Kumek, Hülya; Dilibal, Savaş; Koçak, MustafaBimetallic parts are used in many industrial fields, such as pressure vessels, shipbuilding, aerospace, and automotive industries. Conventional bimetallic part production involves a combination of two different metals that are joined using welding and brazing operations. Additive manufacturing technologies offer a cost-effective and innovative manufacturing alternative for complex 3D-shaped parts that can have multi-material designs for better structural performance. However, the structural performance of bimetallic components is primarily influenced by the combination of the employed materials, the interface's morphology, and interface bonding strength. This work investigated the microstructure and mechanical behavior of a bimetallic thick-walled structure as WAAM Wall fabricated by depositing low-alloyed metal-cored wire on the top of 316L stainless steel by robotic wire arc additive manufacturing (WAAM) process. The results showed that both low-carbon steel and austenitic stainless steel SS316L wires are suitable for manufacturing defect-free bimetallic WAAM components, which may widen the design flexibility to manufacture bi-metallic and or functionally graded WAAM components. However, detailed microstructural characterization indicated that martensitic microstructure containing chrome carbides was developed at the bimetallic interface due to an increase in Ni and Cr contents, resulting in a sudden increase of 95% in hardness and a sharp decrease of 70% in fracture toughness at the interface region compared to the SS 316L side. This high-hardness region also resulted in an increase of about 113% and 86% for yield and tensile strengths and a sharp reduction of 69% for elongation values in horizontal interface specimens compared to vertical interface specimens.Yayın Manufacturing and characterization of waam-based bimetallic cutting equipment(2022) Gürol, Uğur; Dilibal, Savaş; Turgut, Batuhan; Baykal, Hakan; Kümek, Hülya; Koçak, MustafaWire-arc additive manufacturing (WAAM) is a promising method to produce many functional components in different industries. In this method, the welding wires from the feedstock are melted by arc discharge and deposited layer by layer. Other welding wires having different chemical compositions can also be added to the top of the previously deposited layer by replacing the feed wire from the stock to produce bimetallic components. This study investigated the feasibility of using robotic wire arc additive manufacturing technology to produce a bimetallic cutting tool. The bimetallic cutting tool was produced by depositing MSG 6 GZ-60 hard-facing welding wire on top of the austenitic stainless-steel wall produced with ER 316LSi solid wire. The cutting-based equipment requires an increased abrasion resistance with the combination of ductility to provide adequate tool life and performance. Thus, detailed microstructural analysis and hardness tests were conducted to understand the general microstructural characteristic of the manufactured cutting tool, including interfaces between two different materials.Yayın Development of multi-material components via robotic wire arc additive manufacturing(2021) Gürol, Uğur; Turgut, Batuhan; Güleçyüz, Nurten; Dilibal, Savaş; Koçak, MustafaAdditive manufacturing technologies are applied in different industrial fields. It is possible to produce 3D parts in complex form at a lower cost with faster production capability using additive manufacturing compared to traditional subtractive manufacturing. Robotic welding-based wire arc additive manufacturing (WAAM) is a novel additive manufacturing technology which offers various solutions. Many products can be produced through the additive manufacturing in the fields of defense, aerospace, and automotive industries. In this study, multi-material metallic parts were produced by depositing ferritic ER 70 S-6 and stainless steel ER316L welding wires using robotic WAAM technology. Detailed microstructural analysis and hardness tests were conducted on the manufactured samples including interfaces between two different materials. Characterization of Fe-austenite weld interfaces has shown the presence of hard phases due to migration of hardening elements. The microhardness examination revealed that the highest hardness values are recorded at the bimetallic interface due to Fe and C migration through the interface layer.
