Thesis Defense - Sinan Emre (MSME)

Sinan Emre – M.Sc. Mechanical Engineering

Assist. Prof. Ramazan Ünal – Advisor

Assist. Prof. Barkan Uğurlu – Co Advisor

Date: 12.08.2022

Time: 10.00

Location: AB1 232

“DESIGN, DEVELOPMENT, AND REAL-LIFE IMPLEMENTATION OF A HIGH POWER QUADRUPED ROBOT”

Assist. Prof. Ramazan Ünal, Özyeğin University

Assist. Prof. Altuğ Melik Başol, Özyeğin University

Associate Professor Yeşim Öniz, Bilgi University

Abstract:

This thesis presents the design, development, and experimental test of a quadruped with a high power-to-weight ratio. In this thesis, three design processes are studied, namely, actuator design, leg mechanism design, and torso design. The robot is required to be lightweight and traverse relatively fast without payload. Initially, the dynamic model of the robot was built, and a design optimization study for weight minimization was conducted in accordance with the loading results obtained from simulation studies. In order to obtain enhanced locomotion capabilities, custom actuator units with a high power-to-weight ratio were developed and deployed at the robot joints. With these actuators, the position control method was applied to the robot to control the motion. Moreover, the FEM model of the robot was built, and a design optimization study for weight minimization was conducted in accordance with the loading results obtained from simulation studies. As the main result, two prototypes were built, and quadruped gait experiments were conducted.

Bio:

Sinan Emre finished his B.Sc. in Mechanical Engineering at Ozyegin University in 2018. During his undergraduate studies, he worked with prof. Mehmet Arık for one year. Also, he had worked as an undergraduate research student at OzU Biomechatronics Laboratory for one year with Asst. Prof. Barkan Uğurlu. He is currently studying M.Sc. in Mechanical Engineering at Ozyegin University under the supervision of Asst. Prof. Barkan Uğurlu and Asst. Prof. Ramazan Ünal in Biomechatronics Laboratory. He is studying actuator development, quadruped design, and mechanical design optimization methods.