Browsing by Author "Yavuz Ş."

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    Stress and rigidity comparison and improved vibration control of flexible carbon-fiber and epoxy-glass composite manipulators under end-point load
    (Institute of Physics Publishing, 2019) Yavuz Ş.; İlman M.M.
    This paper presents the vibration control problem of the single-link flexible composite manipulators. Two different materials of composite which are epoxy-glass and carbon-fiber are considered for both simulation and experimental analyses. Manipulators are obliged to perform a job such as pick and place applications and machining a workpiece. Therefore, a payload is attached to the manipulators. If the system is suitable for loading applications, the improved vibration control method is used to suppress the residual vibrations of the manipulators. The simulation results are verified with experimental results and it is observed that the proposed vibration control method significantly reduces the residual vibrations compared to passive vibration control method in literature. Additionally, the stresses during motion are analyzed for both simulation and experiment and the effectiveness of the proposed method on the stresses is investigated. Results showed that only the carbon-fiber manipulator is suitable for payload applications and its utilization efficiency can be greatly improved by the proposed method. © 2018 IOP Publishing Ltd.
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    Modified reduced-order modeling of a flexible robot-manipulator and model-associative vibration control implementation
    (Elsevier Ltd, 2020) Yavuz Ş.; İlman M.M.
    This paper introduces a modified reduced-order model with aim to use in the dynamic analysis of flexible robot-manipulators. The model structure is firstly discussed theoretically, then numerically, and finally experimentally in terms of efficiency, utility and robustness. Due to the deterministic structure of the model, which is formed by taking into account the specific features of the system, a successful model can be created without the need for wide range of training data such in probabilistic methods. Because of the simplicity of the model, it is able to realize a dramatic decrease in the analysis period compared to FEA programs. The model is also quite successful in reflecting the robot's nonlinear trigonometric position responses. Besides, an open loop model-associative vibration control method was used to show the utility and satisfactory results were achieved in the actual system. Furthermore, the ability of the model to perform multiple scenarios in a short time allowed the case-study of the control input parameters. © 2020 Elsevier Ltd
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    Modeling approach and analysis time comparison of single-link flexible steel- and epoxy-glass/carbon-fiber composite manipulators
    (Elsevier Ltd, 2020) Yavuz Ş.; İlman M.M.; Binici B.
    This paper presents different modeling technique approaches of the single-link uniform cross-sectional shape manipulators. Three different materials of manipulators which are epoxy-glass and carbon-fiber for composite manipulators and steel manipulator are considered for both simulation and experimental analyses. Three different modelling techniques which are solid, beam and shell models are used for both manipulators. The study consists of three steps. In the first step, the manipulators are modeled in ANSYS for finite element analyses. In the second step, modal analysis is carried out in order to find the frequencies of the manipulators. In the third step, transient analysis is performed to investigate the success of different modeling approaches with experimental results. It is observed that the simulation results with three different modeling approaches have well matched with the experimental results and then, elapsed times for the transient analyses are investigated to find the appropriate modeling technique for the manipulator. © 2020 Institution of Structural Engineers
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    Hybrid vibration control of an industrial CFRP composite robot-manipulator system based on reduced order model
    (Elsevier B.V., 2022) İlman M.M.; Yavuz Ş.; Karagülle H.; Uysal A.
    This paper introduces a novel hybrid vibration control of an industrial flexible link manipulator (FLM) with carbon-fiber reinforced polymer (CFRP) composite material. The hybrid controller consists of a closed-loop direct strain feedback controller (DSFC) and a new open-loop input shaper (OLIS), and its performance is examined and compared by numerical simulation and experiment. Vibration attenuation is also verified by a spare sensor, an accelerometer. Thanks to the design of an analog isolator circuit, data acquisition of the real-time experiments are carried out noise-free from the servo driver. Reduced-order-model (ROM) is generated for the composite link with three different loading conditions and model for servo system is derived via system identification. Impulse force test hammer (IFTH) equipment is used to excite the system with force input and the results of the experiments/simulations confirm that the controller is robust against the impulse disturbances. As a result, a decrease of 88 ± 6.9 percent in vibration amplitudes and a decrease of 90 ± 7 percent in vibration duration confirms that the proposed controller is effective for vibration control of the flexible arm even under disturbance. Controller performance also enabled the FLM to work with payloads 16 times of its own weight. © 2021 Elsevier B.V.