Browsing by Author "Kutuk, M. Erkan"

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Citation - WoS: 4
Hybrid Seven-Bar Press Mechanism: Link Optimization and Kinetostatic Analysis
(Univ North, 2018-09-25) Kutuk, M. Erkan; Artan, Murat; Dülger, Lale Canan
An optimization study with kinetostatic analysis is performed on hybrid seven-bar press mechanism. This study is based on previous studies performed on planar hybrid seven-bar linkage. Dimensional synthesis is performed, and optimum link lengths for the mechanism are found. Optimization study is performed by using genetic algorithm (GA). Genetic Algorithm Toolbox is used with Optimization Toolbox in MATLAB (R). The design variables and the constraints are used during design optimization. The objective function is determined and eight precision points are used. A seven-bar linkage system with two degrees of freedom is chosen as an example. Metal stamping operation with a dwell is taken as the case study. Having completed optimization, the kinetostatic analysis is performed. All forces on the links and the crank torques are calculated on the hybrid system with the optimized link lengths.
Citation - WoS: 2
Citation - Scopus: 2
Optimization With Genetic Algorithm (ga): Planar Mechanism Synthesis
(Sharif University of Technology, 2022-11-21) Erkan, Kutuk, M.; Dülger, Lale Canan; Canan Dulger, L.; Erkan Kutuk, M.; Kutuk, M. Erkan
Dimensional synthesis of mechanisms to trace given points is an important issue in mechanism and machine science. Having no exact solution makes this issue an optimization problem. This study o ers an optimization approach to dimensional synthesis of planar mechanisms. Four-bar mechanisms having one Degree Of Freedom (DOF) are chosen as the con gurations. The proposed method is implemented by establishing the objective functions with speci ed constraints and searching for the results by using an optimization algorithm. Genetic Algorithm (GA) in Optimization Toolbox-MATLABr is selected as a solver. Di erent types of four-bar mechanisms like crank-rocker and double-crank including di erent target points are performed. Mechanisms are depicted by resulting parameters and a prepared MATLABr script plays their animations. As a result, it is proved that the mechanisms whose dimensional properties are obtained by the GA solver have a good tracing capability for the desired paths. This study has the property of being a design guide. Its application is not limited to four-bar mechanism. Planar mechanisms with di erent con gurations can be easily synthesized by using this technique. © 2023 Sharif University of Technology. All rights reserved.
A Simulation Tool for Kinematics Analysis of a Serial Robot
(Springer International Publishing Ag, 2019-06-07) Kutuk, M. Erkan; Dülger, Lale Canan; Das, M. Taylan; Canan Dülger, L.; Erkan Kütük, M.; Taylan Das, M.
Robot programming is a very significant task in the field of robotics. Off-line programming (OLP) is a method performed before robot manipulation. It is the manual editing of the robot code using computer software to simulate the real robotic scenarios. Task sequence planning, short-term production, flexibility during operation and expecting real behaviour of the robots are some of the reasons that make the users prefer OLP. Operations can be visualized in many processes such as welding, cutting, even medical applications. In this study, off-line models are offered including the forward and inverse kinematics of a six Degree-Of-Freedom (DOF) serial robot manipulator (Denso VP-6242G). Robotic Toolbox combined with GUI Development Environment in Matlab (R) is used for the forward kinematics solution. A Matlab (R) Simulink model with Simmechanics blocks is used in the inverse kinematic analysis. Visualization is enriched by 3D Solidworks (R) models of the robot parts. Basic motion examples that can be used in many areas are presented.