Scopus
YÖKSİS DOI Eşleşti
SJR Q1
Measuring curvature of trajectory traced by coupler of an optimal four-link spherical mechanism
Measurement Journal of the International Measurement Confederation · Mayıs 2021
YÖKSİS Kayıtları
Measuring curvature of trajectory traced by coupler of an optimal four-link spherical mechanism
Measurement · 2021 SCI-Expanded
Dr. Öğr. Üyesi OSMAN ACAR →
YÖKSİS Kayıtları — ISSN Eşleşmesi
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Decomposition of process damping ratios and verification of process damping model for chatter vibration
2012 ISSN: 02632241 SCI-Expanded
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Multi response optimisation of CNC turning parameters via Taguchi method-based response surface analysis
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Optimization of tool geometry parameters for turning operations based on the response surface methodology
2011 ISSN: 02632241 SCI-Expanded
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A new process damping model for chatter vibration
2011 ISSN: 02632241 SCI-Expanded
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Investigation of signal behaviors for sensor fusion with tool condition monitoring system in turning
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Measuring curvature of trajectory traced by coupler of an optimal four-link spherical mechanism
2021 ISSN: 0263-2241 SCI-Expanded Q1
Dr. Öğr. Üyesi OSMAN ACAR →
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An S-band zero-IF SFCW through-the-wall radar for range, respiration rate, and DOA estimation
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Makale Bilgileri
ISSN02632241
Yayın TarihiMayıs 2021
Cilt / Sayfa176
Scopus ID2-s2.0-85101325063
Özet
This research paper presents design of a gripper finger mechanism and a new curvature measurement method of fingertip trajectory. Firstly, the conditions of a grasp provided by gripper, which was designed from a spherical mechanism, was explained. Therefore, trajectory length of coupler point was modeled as objective function which is maximized. Ball-Burmester theory was used to form constraints which can provide a spherical curve with curvature close to zero. A plausible dimension range of mechanism, transmission angle, instantaneous invariants were arranged as constraint function. A meta-heuristic algorithm previously developed by one of authors was used to search the best instantaneous invariants based on the type of mechanism. The optimal solution was prototyped, and three-fingered gripper assembled. Secondly, an endoscopic camera peculiarly was used to measure curvature of the trajectory traced by coupler point of an optimal four-link spherical mechanism which was supposed to compose a finger of a robotic gripper. The coupler of the mechanism was expected to trace approximately a great circle arc to provide a grasp. Therefore, the technique to measure curvature was based on image processing and geodetic curvature theory. A calibrated endoscopic camera was used for acquisition of video record above the prototype which was centered in the center of the camera screen. The curvature of coupler point of optimal spherical mechanism design and prototype were compared. According to performed regression analysis, results of the measurement were %97 reliable for the useful part of the trajectory.
Yazarlar (3)
1
Osman Acar
2
Haci Sağlam
ORCID: 0000-0002-6598-8262
3
Ziya Şaka
Anahtar Kelimeler
Metaheuristic algorithm
Optimization
Rapid prototyping
Robotic grippers
Spherical mechanism
Kurumlar
Konya Technical University
Konya Turkey
Selçuk Üniversitesi
Selçuklu Turkey
Scimago Dergi (ISSN Eşleşmesi)
Measurement: Journal of the International Measurement Confederation
Q1
SJR Skoru1,244
H-Index146
YayıncıElsevier B.V.
ÜlkeNetherlands
Applied Mathematics (Q1)
Condensed Matter Physics (Q1)
Education (Q1)
Electrical and Electronic Engineering (Q1)
Instrumentation (Q1)
Statistics and Probability (Q1)
Metrikler
17
Atıf
3
Yazar
5
Anahtar Kelime