Yazar "Demiray, Abdullah" seçeneğine göre listele

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    Enhancing Attitude Control in Space Stations Through Integrated Robotic Systems
    (Institute of Electrical and Electronics Engineers Inc., 2024) Bakirci, Murat; Demiray, Abdullah
    Roboarm platforms have a wide variety of application areas apart from industrial applications. One of the most striking of these applications is the robotic arm systems used in the operations to be carried out in orbiting space stations. The control of these systems, which have an extremely difficult and sensitive operating principle, also requires the same degree of accuracy and consistency. In this study, the dynamics of a robotic arm operating on an unstable frame of reference is investigated. It was assumed that the robotic arm was integrated into an orbiting space station and the mathematical model was developed accordingly. With the numerically examined model, various operation methods were selected and the advantages and disadvantages of each were investigated. In addition, the reaction forces on the platform for each mode of operation were also examined. In this way, it has been investigated under which conditions the robotic arm working on the movable base can be controlled more consistently. The obtained results reveal that it would be beneficial to prefer different behavior control modes according to the type of application in which the robotic arm will be used. © 2024 IEEE.
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    Öğe
    Pre-production Design of a Robotic Arm Mounted on an Unmanned Aerial Vehicle (UAV)
    (Springer Science and Business Media Deutschland GmbH, 2023) Bakirci, Murat; Demiray, Abdullah
    It has been demonstrated through many applications that unmanned aerial vehicles, which have been enhanced with various equipment and whose performance has been increased, can perform more effective tasks. Considering the results of these successful applications, the further development of unmanned aerial vehicles with new equipment has recently gained momentum. Among these development studies, the integration of robotic systems in particular is of critical importance. In this study, a robotic arm design is presented to be mounted on unmanned aerial vehicles and used in a wide variety of critical missions. The geometric design of the robotic arm, which is adjusted to be integrated under the fuselage of a rotary wing aircraft, was carried out considering the geometrical characteristics of the unmanned system. The weight-to-load ratio of the robotic arm was arranged as 1 and the motors were selected accordingly. The limits of the geometric design were determined based on the system requirements. Within the scope of the kinematic model of the robotic arm, the general transformation matrix is also obtained based on all its joints and links. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.