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Seri elastik eyleyiciler için mekanik tasarım süreçleri
(Pamukkale Üniversitesi, 2019)
Bu makalede tork kontrollü robot eklem tahriki için robotik literatüründe sıkça tercih edilen seri elastik eyleyici (SEE) üniteleri için geliştirilen tasarım süreçleri konu edilmiştir. Bilgisayar destekli tasarım ve benzetim ...
Design sensitivity and optimization of powertrain mount system design parameters for rigid body modes and kinetic energy distributions
(Springer Nature, 2020-08-24)
This study evaluates the influences of the powertrain mount design parameters on the frequencies of powertrain rigid body modes and their kinetic energy distributions (KEDs), which play an important role in the low-frequency ...
Application of a disturbance observer based controller to improve vehicle ride
(Canadian Acoustical Association, 2019)
In this paper the application of a disturbance observer based control algorithm is proposed to improve the vehicle ride performance of a vehicle that has magnetorheological damper (MR Damper) suspension. The vehicle is ...
High power series elastic actuator development for torque-controlled exoskeletons
(Springer Nature, 2019)
This paper presents the development procedures of a high power series elastic actuator that can be used in torque-controlled exoskeleton applications as a high-fidelity torque source. In order to provide a high torque ...
Experimental and numerical modal characterization for additively manufactured triply periodic minimal surface lattice structures: Comparison between free-size and homogenization-based optimization methods
(Wiley, 2023-06)
Homogenization-based topology optimization (HMTO) is one of the most extensively used grading methods to generate functionally graded lattice structures (FGLs). However, it requires a precharacterization of the lattices, ...
Effect of build parameters on the compressive behavior of additive manufactured CoCrMo lattice parts based on experimental design
(MDPI, 2022-07)
Due to their high specific strength, toughness, and corrosion and wear resistance characteristics, CoCrMo alloys are widely used in different industries and applications: wind turbines and jet-engine components, orthopedic ...
Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
(IEEE, 2019-06)
In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint ...
3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
(IEEE, 2019-06)
This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ...
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
(IEEE, 2018-10-09)
This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ...
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