design and implementation of a two-axes linear positioning system for rapid prototyping applications

Yazıcıoğlu, Faruk
In this study, a two axes linear positioning system for testing and applying different rapid prototyping techniques was designed and manufactured. A cable/ pulley mechanism is utilized in the system for transmitting motion from motors into linear motion. Use of a cable/ pulley mechanism overcomes the problems resulting from the utilization of conventional drive systems like ball screws and decreases the overall cost of the system. The carriage elements of both axes were designed and manufactured by using investment casting. The molds used in casting were also designed and manufactured within this study. The designed system is controlled by a servo motion control system composed of a motion controller, DC servo motors and linear encoders. All elements of the motion control system were selected, integrated and programmed within the scope of the study.


Experimental results on adaptive output feedback control using a laboratory model helicopter
Kutay, Ali Türker; Idan, M; Hovakimyan, N (Institute of Electrical and Electronics Engineers (IEEE), 2005-03-01)
Experimental results are presented that illustrate a recently developed method for adaptive output feedback control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation under known actuator characteristics including actuator dynamics and saturation. Only knowledge of the relative degree of the controlled system within the bandwidth of the control design is required. The controller design was tested by controlling the ...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization
Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01)
Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on the object can naturally be deduced from the model and be optimized such that upon contacting the object the desired optimum initial conditions of manipulation a...
Analysis of single Gaussian approximation of Gaussian mixtures in Bayesian filtering applied to mixed multiple-model estimation
Orguner, Umut (Informa UK Limited, 2007-01-01)
This paper examines the effect of the moment-matched single Gaussian approximation, which is made in various multiple-model filtering applications to approximate a Gaussian mixture, on the Bayesian filter performance. The estimation error caused by the approximation is analysed for both the prediction and the measurement updates of a Bayesian filter. An approximate formula is found for the covariance of the error caused by the approximation for a general Gaussian mixture with arbitrary components. The calcu...
Q-Adaptation of SVD-aided UKF Algorithm for Nanosatellite Attitude Estimation
Hacızade, Cengiz; Söken, Halil Ersin; Guler, Demet Cilden (2017-01-01)
In this study, we propose process noise covariance matrix adaptation (Q-adaptation) for the Singular Value Decomposition (SVD) aided Unscented Kalman Filter (UKF) algorithm. The main aim is to make the algorithm adaptive against the changes in the process noise covariance. The SVD-aided Adaptive UKF (SaAUKF) estimates the attitude and attitude rate of a nano satellite. We implement the SVD method in the algorithm's first phase using magnetometer and sun sensor measurements. It estimates the attitude of the ...
Performance evaluation of piezoelectric sensor/actuator on active vibration control of a smart beam
Şahin, Melin (SAGE Publications, 2011-01-01)
In this paper the performance of a piezoelectric sensor/actuator pair and self-sensing piezoelectric actuator on the investigation of vibration characteristics and active vibration control of a smart beam are presented. The performance of piezoelectric patches on actuation and sensing is evaluated by investigating the vibration characteristics of the smart beam via various excitation mechanisms and transduction systems. For active vibration suppression of the smart beam, robust controllers are designed and ...
Citation Formats
F. Yazıcıoğlu, “design and implementation of a two-axes linear positioning system for rapid prototyping applications,” M.S. - Master of Science, Middle East Technical University, 2007.