Güleç, Musa Özgün

Scholarly Output Search Results

Now showing 1 - 3 of 3

Citation - WoS: 1
Citation - Scopus: 1
Integrated Drive Train and Structural Optimization for a Dynamic System: an Evolving Conceptual Design Algorithm
(IEEE, 2022) Gulec, Musa Ozgun; Ertugrul, Seniz
Selecting the most suitable motor sizes, gear boxes and structure under certain constraints or desired values such as payload, speed, deflections, total weight, etc. for a dynamic system is an exhaustive and time-consuming iterative process. To overcome this problem, a newevolving conceptual design algorithm is developed. The suggested algorithm can be used for the conceptual design of any dynamic system including drive-train and structural optimization. To illustrate the suggested methodology, a robot manipulator, having 3 degrees of freedom, is selected as a case study. The objective function is minimizing the robot mass while satisfying the desired dynamic requirements and constraints of link deflections. A dynamic simulation environment for flexible body motion, containing 3 DOF robot manipulator drive-trains and flexible links, is developed in an evolving optimization loop. The lumped parameter estimation method is used to model the flexibility of uniform links in Simmechanics by allowing the estimation of deflections caused by the dynamic motion. Thus, both dynamic and structural simulations are made simultaneously in Simmechanics with no additional software. Hence, drive-trains and thickness of all links are simultaneously optimized by using the suggested evolving conceptual design algorithm.
Citation - WoS: 4
Citation - Scopus: 6
Pareto Front Generation for Integrated Drive-Train and Structural Optimisation of a Robot Manipulator Conceptual Design Via Nsga-Ii
(Sage Publications Ltd, 2023) Güleç, Musa Özgün; Ertugrul, Şeniz
Due to the complexity of the process, there is no single solution for determining the motors, gearboxes and structures of a robot manipulator according to the desired dynamic performance while minimising both the deflections in the structure during the dynamic motion and total robot weight. The solution of this integrated drive-train and dynamic structural optimisation problem is generalised for three degrees of freedom (DOF) robot manipulator via Non-Dominated Sorting Genetic Algorithm II (NSGA-II) to obtain the Pareto front of any desired robot manipulator overall conceptual design, including motors, gearboxes and thicknesses of the links. A flexible body dynamic simulation model was created in the MATLAB Simmechanics environment. The flexible bodies were defined via lumped parameter estimation method, which allows observation of the deflections in links during the dynamic motion. A library containing technical data related to motors and gearboxes was created to be utilised in the optimisation algorithm. The method accelerates the time-consuming iterative process for obtaining optimum conceptual design solutions for a dynamic system and allows for easy modification of design parameters and constraints. It also makes the algorithm suitable for different types of dynamic system designs.
Citation - WoS: 1
Citation - Scopus: 1
Humanoid Robot Arm Design, Simulation, Kinesthetic Learning, Impedance Control and Suggestions
(Gazi Univ, Fac Engineering Architecture, 2022) Ertugrul, Seniz; Kaya, Ozan; Turkmen, Dila; Eraslan, Hulya; Taglioglu, Gokce Burak; Gulec, Musa Ozgun
Robot technology is constantly developing and the studies in this field are also increasing in our country. Universities, machine-manufacturing and defense industry have been either doing or planning robot projects. This study presents designing of a humanoid robot arm desired to be cooperative so that it can work as dual arm or with human operator. Mechanical design, kinematic and dynamic analysis, kinesthetic learning, impedance control, software and hardware studies were carried out within the scope of the study. The stages from the initial design of the humanoid robot arm to the control, the problems encountered, the experiences gained and the suggestions for advanced designs are shared in a very comprehensive way in this article. It has been explained in an easy-to-understand manner in order to be useful for national robot projects which are being developed especially for commercial purposes. Mechanical design, dynamic analyses, simulation and other files will be shared as open source with interested researchers.

Journal	Count
2022 8Th Internatıonal Conference on Control, Decısıon And Informatıon Technologıes (Codıt'22)	1
Advances in Mechanical Engineering	1
Journal of the Faculty of Engıneerıng And Archıtecture of Gazı Unıversıty	1

Güleç, Musa Özgün

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