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Selvi, Özgün

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Profile URL
https://hdl.handle.net/20.500.12416/9373
Name Variants
Selvi, Ozgun
Selvi, O.
Selvi, Ö.
Job Title
Dr. Öğr. Üyesi
Email Address
ozgunselvi@cankaya.edu.tr
Main Affiliation
06.06. Makine Mühendisliği
Makine Mühendisliği
06. Mühendislik Fakültesi
01. Çankaya Üniversitesi
Status
Former Staff
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ORCID ID
Scopus Author ID
Turkish CoHE Profile ID
Google Scholar ID
WoS Researcher ID

Sustainable Development Goals

11

SUSTAINABLE CITIES AND COMMUNITIES
SUSTAINABLE CITIES AND COMMUNITIES Logo

1

Research Products

3

GOOD HEALTH AND WELL-BEING
GOOD HEALTH AND WELL-BEING Logo

0

Research Products

9

INDUSTRY, INNOVATION AND INFRASTRUCTURE
INDUSTRY, INNOVATION AND INFRASTRUCTURE Logo

4

Research Products

6

CLEAN WATER AND SANITATION
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0

Research Products

14

LIFE BELOW WATER
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0

Research Products

12

RESPONSIBLE CONSUMPTION AND PRODUCTION
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0

Research Products

8

DECENT WORK AND ECONOMIC GROWTH
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0

Research Products

1

NO POVERTY
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0

Research Products

4

QUALITY EDUCATION
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1

Research Products

5

GENDER EQUALITY
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0

Research Products

10

REDUCED INEQUALITIES
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0

Research Products

16

PEACE, JUSTICE AND STRONG INSTITUTIONS
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0

Research Products

15

LIFE ON LAND
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0

Research Products

7

AFFORDABLE AND CLEAN ENERGY
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0

Research Products

13

CLIMATE ACTION
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0

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17

PARTNERSHIPS FOR THE GOALS
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0

Research Products

2

ZERO HUNGER
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This researcher does not have a Scopus ID.
This researcher does not have a WoS ID.
Scholarly Output

14

Articles

7

Views / Downloads

448/498

Supervised MSc Theses

0

Supervised PhD Theses

0

WoS Citation Count

5

Scopus Citation Count

18

WoS h-index

1

Scopus h-index

3

Patents

0

Projects

0

WoS Citations per Publication

0.36

Scopus Citations per Publication

1.29

Open Access Source

5

Supervised Theses

0

JournalCount
International Journal of 3D Printing Technologies and Digital Industry3
Robotica2
Joint International Conference of the 12th International Conference on Mechanisms and Mechanical Transmissions (MTM) / 23rd International Conference on Robotics (Robotics) -- OCT 26-27, 2016 -- Aachen, GERMANY1
Journal of Naval Sciences and Engineering1
Mechanisms and Machine Science1
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Scholarly Output Search Results

Now showing 1 - 10 of 14
  • Thumbnail Image
    Article
    Design and Production of Multi Material 3d Printer for Soft Robotic Structural Elements
    (2021) Yetim, Murat; Çırnık, Samed Yiğit; Akan, Muhammed Enes; Tomaç, Temel; İlter, Hasan Fehmi; Selvi, Özgün
    With the latest technology, the development and interest in soft robots have gained speed. Flexible robots are generally produced by the casting method. This traditional production method cannot meet the required quality and production speed. For this, it is aimed to solve the problem by accelerating the production of robots without decreasing the quality. The most successful method for solving this problem is 3D printers, which could print multiple materials. It was decided to be used multi-materials printing, and the system design was carried out. This study aims to design and produce a multi-material 3D printer capable of printing non-conductive and conductive rapidly curing silicone that can be used in soft robotics and medical simulators. The electrical conductivity was achieved by mixing silicone and graphite powder. The parts in the designed system are also obtained by the additive manufacturing method. Test pieces were printed using the produced 3D printer. Specific tests have been carried out on the produced parts. Technical data such as strength, elasticity, electrical conductivity have been obtained.
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    Conference Object
    Citation - WoS: 1
    Citation - Scopus: 1
    Inverse Kinematics and Dynamics of an Overconstrained Manipulator for Upper Extremity Rehabilitation
    (Springer international Publishing Ag, 2017) Yilmaz, K.; Selvi, O.
    In this paper, an overconstrained manipulator is selected for the purpose of rehabilitation of the upper extremity. The geometry of the selected manipulator fits the exact motion of the upper extremity and acts as an exoskeleton. Inverse kinematics calculations are shown for describing the motion of actuators for a desired arm motion. Lagrange Formulation is used for the inverse dynamic model of the system. Due to the geometry of the manipulator, kinematic and dynamic calculations are applied to the two spherical subspaces of the manipulator using imaginary joints.
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    Article
    Citation - WoS: 2
    Citation - Scopus: 2
    Kinematic Design and Analysis of a Novel Overconstraint Walking Mechanism
    (Cambridge Univ Press, 2025) Selvi, Ozgun; Cindioglu, Cagri; Ider, Sitki Kemal; Ceccarelli, Marco
    Walking mechanisms offer advantages over wheels or tracks for locomotion but often require complex designs. This paper presents the kinematic design and analysis of a novel overconstrained spatial a single degree-of-freedom leg mechanism for walking robots. The mechanism is generated by combining spherical four-bar linkages into two interconnecting loops, resulting in an overconstrained design with compact scalability. Kinematic analysis is applied using recurrent unit vector methods. Dimensional synthesis is performed using the Firefly optimization algorithm to achieve a near-straight trajectory during the stance phase for efficient walking. Constraints for mobility, singularity avoidance, and transmission angle are also implemented. The optimized design solution is manufactured using 3D printing and experimentally tested. Results verify the kinematic properties including near-straight-line motion during stance. The velocity profile shows low perpendicular vibrations. Advantages of the mechanism include compact scalability allowing variable stride lengths, smooth motion from overconstraint, and simplicity of a single actuator. The proposed overconstrained topology provides an effective option for the leg design of walking robots and mechanisms.
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    Article
    Citation - WoS: 1
    Citation - Scopus: 1
    Kinematic Analysis of Overconstrained Manipulators With Partial Subspaces Using Decomposition Method
    (Cambridge Univ Press, 2022) Selvi, Ozgun
    Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.
  • Thumbnail Image
    Conference Object
    Citation - Scopus: 5
    Design and Optimization of a Walking Over-Constrained Mechanism
    (Springer Science and Business Media B.V., 2019) Ceccarelli, M.; Selvi, Ö.
    In this paper, a walking overconstrained mechanism with one DoF is presented. Firstly, its dimensional parameters and geometry are shown and a step profile which is wanted to be followed by end point of the walking mechanism is proposed. Kinematic equations of the walking mechanism are extracted to use them later as constraints for Firefly Algorithm. Algorithm is run in get the optimized dimensional parameters to provide the desired step profile. Results are presented. © 2019, Springer Nature Switzerland AG.
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    Conference Object
    Integrating Un Sustainable Development Goals Into Mechanical Engineering Electives: a Modular Approach
    (Springer Science and Business Media B.V., 2025) Totuk, O.H.; Selvi, O.; Ceccarelli, M.
    This paper presents an innovative approach to incorporating the United Nations Sustainable Development Goals (SDGs) into the Mechanical Engineering curriculum, focusing on elective courses in the third and fourth years of study. The proposed method introduces a standardized 3-h module for each elective, comprising two hours of theoretical instruction and one hour of practical application. This modular approach ensures consistent exposure to sustainability concepts across various specialized topics within Mechanical Engineering. The theoretical component covers relevant SDGs, their implications for engineering practice, and potential technological solutions. The practical segment includes tailored activities, labs, or design challenges that apply sustainability principles to the specific subject matter of each elective. This integration strategy not only enhances students’ understanding of global sustainability challenges but also equips them with the skills to address these issues within their future engineering careers. The paper discusses the development process of these modules, potential challenges in implementation, and preliminary feedback from faculty and students. By systematically embedding sustainability into existing courses, this approach offers a scalable and efficient method for engineering programs to produce graduates who are both technically proficient and sustainability-conscious, ready to contribute to a more sustainable future. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.
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    Conference Object
    Citation - WoS: 1
    Citation - Scopus: 3
    Redesign and Construction of a Low-Cost Capaman Prototype
    (Springer international Publishing Ag, 2019) Karaahmet, S. B.; Selvi, O.; Cafolla, D.; Ceccarelli, M.; Arslan, O.
    In this paper a redesign solution for CaPaMan structure is presented to build a scaled low-cost prototype with market components and 3D printed parts. A CAD design is worked out to define 3D printing manufacturing for link parts and to adjust the mechanical design and its assembly after performance evaluation ensuring characteristic features of CaPaMan operation. A small-size prototype is built and tested with satisfactory functioning.
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    Article
    Citation - Scopus: 2
    Effects of Earthquake Motion on Mechanism Operation: an Experimental Approach
    (Levrotto and Bella, 2015) Selvi, Ö.; Selvi, Özgün; Ceccarelli, M.; Aytar, E.B.; Makine Mühendisliği
    This paper presents an experimental characterization of the effects of earthquakes on the operation of mechanical systems with the help of CaPaMan (Cassino Parallel Manipulator), which is a 3 DOF robot that can fairly well simulate 3D earthquake motion. The sensitivity of operation characteristics of machinery to earthquake disturbance is identified and characterized through experimental tests. Experimental tests have been carried out by using a slider-crank linkage, a small car model, and LARM Hand as test-bed mechanisms that have been sensored with proper acceleration or force sensors. Results are reported and discussed to describe the effects of earthquake motion on the characteristics of mechanism operation as a service application of the robotic CaPaMan system.
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    Conference Object
    Üç Serbestlik Dereceli Paralel Rehabilitasyon Eyleyicinin Ateş Böceği Algoritması Kullanılarak Boyutsal Olarak Eniyilemesi
    (2016) Selvi, Özgün; Yavuz, Samet
    Bu çalışma, insan bilek eklemi rehabilitasyonunda kullanılacak üç serbestlik derecesine sahip üç bacaklı küresel bir paralel eyleyicinin belirli bir çalışma uzayında çalışmasını sağlayacak boyutsal parametrelerin tespitini amaçlamaktadır. Bahsi geçen eyleyicinin son-elemanı insan bilek ekleminin üç serbestlik derecesini kapsamaktadır. Eyleyicinin her bacağı iki küresel uzva sahiptir ve tüm eklem eksenleri ortak bir noktada kesişmektedir. Eniyileme algoritmasında kullanılmak üzere eyleyicinin ters kinematik denklemleri çözülmüş Jacobi matrisi elde edilmiştir. Daha sonra ters kinematik denklemlerinden ve Jacobi matrisinden elde edilen kısıtlar ateş böceği algoritmasında kullanılarak belirli çalışma alanı için boyutsal eniyileme gerçekleştirilmiştir. Son olarak bu boyutsal parametrelerle bilek hareketleri benzetimlenerek çalışma alanı testi gerçekleştirilmiştir.
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    Article
    Kinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremite
    (2015) Selvi, Özgün; Al-dulaimi, Hasan
    This study deals with one of the applications of parallel manipulator as a rehabilitation robot. This device is an over –constrained parallel manipulator 5 degree of freedom with 3 legs. This manipulator consists of a moving platform which is connected to a fixed base via three legs. Each leg is made of RRR(RR) (revolute) joints where the first three joint in all legs are parallel and the recent two joint are intersecting .Inverse kinematics of this device is solved by dividing manipulator into two sub-manipulators with the help of three imaginary joints placed at the intersection of platform joints with a direction parallel to base joints.