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Öğe A simple manufacturing process of the miniaturised octopus-inspired underwater soft robotic grippers(Taylor and Francis Ltd., 2022) Eroğlu, Murat; Şam Parmak, Ebru DevrimIn this article, we show a new fabrication technique based on CNC machining for the miniaturised octopus-inspired underwater soft robotic grippers. This method provides practical and scale-up production of these grippers. Polydimethylsiloxane/polyethylene terephthalate (PDMS/PET) film (similar to 7 x 7 cm(2)) consisting of concave structures in two different geometries (outer and inner) with the suction-based property was produced by using our suggested manufacturing method. The highest adhesion force was obtained on the flat deformable object by the outer concave structured gripper (similar to 6 kPa) and the flat rigid object by the inner concave structured gripper (similar to 12 kPa). Moreover, both the grippers exhibit switchable adhesion by changing the retraction velocity as well as high repeatability (over 100 cycles) in underwater conditions. This method will enable practical fabrication of the miniaturised octopus-inspired underwater soft robotic grippers. The proposed manufacturing technique will facilitate the widespread use and commercialisation of the grippers.Öğe Ahtapottan esinlenilerek biyomimetik yapıştırıcıların üretimi ve karakterizasyonu(Bursa Teknik Üniversitesi, 2022) Eroğlu, Murat; Parmak, Ebru Devrim ŞamBu tez çalışmasında, ahtapottan esinlenilen minyatürize boyutlarda vantuz benzeri yapılardan oluşan elastomer esaslı ve ıslak ortamda tekrarlı olarak yapışabilen yapıştırıcıların CNC işleme tekniği kullanılarak pratik bir şekilde üretilmesi hedeflenmiştir. CNC işleme tekniğiyle delik desenli kalıp üretimi gerçekleştirilmiş olup, üretilen kalıp kullanılarak kısmi doldurma tekniğiyle PDMS ve dental esaslı elastomerlerden oluşan vantuz benzeri yapılara sahip yapıştırıcılar elde edilmiştir. Üretilen yapıştırıcıların morfolojik ve kesit görüntüleri stereo mikroskop kullanılarak incelenmiştir. Üretilen yapıştırıcıların yapışma testleri mekanik test cihazında gerçekleştirilmiştir. Yapışma testleri sert ve deforme edilebilir altlıkların yüzeyinde kuru ve farklı türdeki ıslak ortamlarda uygulanmıştır. Üretilen yapıştırıcıların ıslak ortam yapışma testleri sistematik bir şekilde değişen önyük hızlarında, basma sürelerinde, geri çekme hızlarında ve önyüklerde gerçekleştirilmiştir. Geliştirilen yapıştırıcıların yapıştırıldıkları yüzeyle arasında oluşan temas alanı görüntüleri optik mikroskop ile elde edilmiştir. Ahtapottan ilham alınarak üretilen PDMS ve dental elastomer esaslı yapıştırıcılar yaklaşık 7 x 7 cm büyüklüğündedir. Dört farklı geometride yapı üretilmiş olup, bu yapıların isimleri sırasıyla PDMS dış tipi içbükey (PD), PDMS iç tipi içbükey (Pİ), dental perfore tipi içbükey (DP) ve dental iç tipi içbükey (Dİ)' dir. Su altı ortamda en yüksek yapışma mukavemeti hem sert yüzey üzerinde (~ 14 kPa) hem de deforme edilebilir yüzey üzerinde (~ 8.5 kPa) Dİ tipi yapılardan oluşan yapıştırıcı tarafından sergilenmiştir. Islak ortamda gerçekleştirilen sistematik yapışma testleri sonucunda, üretilen yapıştırıcıların yapışma kuvvetlerinin artan geri çekme hızlarıyla doğru orantılı olarak arttığı tespit edilmiştir. Bu sonuç, üretilen yapıştırıcıların yapışma kuvvetlerinin değiştirilebilir olduğunu göstermektedir. Bu nedenle, üretilen yapıştırıcılar düz nesnelerin sualtında bir yerden başka bir yere taşınması için yumuşak robotik tutucu olarak kullanılabilirler. 100 çevrime kadar gerçekleştirilen yapışma testleri sonucunda, üretilen yapıştırıcıların yapışma kuvvetlerinde kayda değer bir azalma olmaksızın performanslarını korudukları gözlenmiştir.Öğe Effect of the Mn Amount on the Structural, Thermal, and Magnetic Properties of Rapidly Solidified (87-x)Cu-13Al-xMn (wt.%) Alloy Ribbons(Springer, 2022) Sünbül S.E.; İçin K.; Eroğlu, Murat; Öztürk S.In this study, rapidly solidified Cu-Al-Mn ribbons containing 13% Al and 1-14% Mn alloying element by weight were produced by melt spinning method. The structural, thermal, and magnetic properties of produced ribbons were investigated. The parent phase was β1’ martensite for melt-spun ribbons containing Mn amount 1-4%, whereas Cu2AlMn cubic phase for melt-spun ribbons containing Mn amount 7-14%. The microstructures of produced Cu-13Al-1Mn, Cu-13Al-2Mn, Cu-13Al-3Mn, and Cu-13Al-4Mn melt-spun ribbons were consisted of a martensite plate and grain. In addition to this, there were coaxial and equaxial shaped Cu2AlMn phase grains in Cu-13Al-7Mn, Cu-13Al-9Mn, Cu-13Al-11Mn, and Cu-13Al-14Mn melt-spun ribbons. It was observed homogeneous elemental distribution in all ribbons containing different Mn amount. The phase transformation temperatures changed with Mn amount. Austenite-martensite and martensite-austenite phase transformation temperatures decreased with increasing Mn content, while Curie temperatures increased very little with increasing Mn content. Two-way shape memory property was observed for ribbons containing 4 wt.% Mn or less. The magnetic memory effect occurred in the ribbons contains high Mn. The saturation value increased with increasing Mn amount in the produced ribbons.Öğe Fabrication of micro/nano hydrophobic surfaces by a soft molding method using polyurethane-based elastomer(SAGE Publications Ltd, 2021) Eroğlu, Murat; Şam Parmak, Ebru DevrimIn this research, a stretchable and non-sticky hydrophobic surface is developed using flexible polyurethane-based elastomer Vytaflex 20A. The hierarchical roughness of rose petals was replicated by soft molding method to achieve hydrophobicity. The morphological properties, wettability properties and mechanical properties of replicated micro/nanostructures were characterized. The replicated surface exhibited a similar micro/nanostructure to that of rose petal. Rose petal and replicated surface were highly hydrophobic and their static water contact angles (θ ≈ 124°) are nearly equal. Contact angle hysteresis of the produced surface was measured (10°) to be lower significantly than that of the fresh rose petal (50°). The proposed surface is also highly stretchable having an elongation value of approximately % 700. Such surfaces can be a great candidate for providing easy to clean ability to deformable elastomer products.Öğe Fabrication of polyamide 6/honey/boric acid mats by electrohydrodynamic processes for wound healing applications(Elsevier Ltd, 2021) Terzioğlu, Pınar; Yeşilyurt, Ayşenur; Eroğlu, Murat; Yıldırım, Kenan; Parın, Fatma Nur; Parın, UğurIn this study, polyamide 6, polyamide 6/honey, and polyamide 6/honey/boric acid nanofibrous mats were fabricated by electrospinning and electrospraying technique to be used in wound healing applications. The morphology and diameter of the fiber mats with and without honey and boric acid were examined by scanning electron microscopy. The morphology of fibers showed that all resulting fibers were in the nanometer range with 253–304 nm average fiber diameter. Fourier Transform Infrared spectrum (FT-IR) and thermal gravimetric analysis (TGA) thermograms showed the successful incorporation of honey and boric acid into the fibers. The results demonstrated that increasing the amount of boric acid slightly increased the fiber diameter. Moreover, boric acid incorporation enhanced the hydrophilicity of nanofibers. The wettability and thermal stability of fibers were quite suitable for wound healing applications. Antibacterial tests demonstrated that the polyamide 6/honey fiber was effective against Escherichia coli, while the polyamide 6/honey fibers loaded with boric acid at 5 and 10 wt% concentration were effective against both Escherichia coli and Staphylococcus aureus. However, the fibers had no antibacterial activity against Acinetobacter baumannii and Pseudomonas aeruginosa. The findings showed that polyamide 6/honey and polyamide 6/honey/boric acid nanofibrous scaffolds had desirable characteristics suitable for potential wound healing applicationsÖğe Investigation of the performance of the elastomer-based soft robotic gripper produced by the bubble casting technique(Gumushane University, 2024) Eroğlu, MuratA soft robotic actuator was produced by the bubble casting technique, which is composed of elastomeric material. Investigations were conducted to determine how the viscosity of the liquid elastomer affected how the robotic actuator bent. The gripper's curvature, response time, and load-carying capacity were measured, and the relation between applied air pressure and these characteristics was examined. Moreover, the effect of environmental factors (dry, wet and oily) on the load-carrying capacity of the gripper was investigated. These findings demonstrate that as applied air pressure is increased, the gripper's response time, curvature, and load-carrying capacity all increase. For all applied pressures, the highest load-carrying capacity of the gripper was observed in a dry environment. The grippers load-carrying capacity in a dry environment was approximately 2.5 g, 3.5 g, and 5.9 g at pressures of 30 kPa, 35 kPa, and 40 kPa, respectively. By altering the waiting time, the elastomer's viscosity could be managed. The ideal waiting time was found to be between 3 and 4 minutes for optimal bending performance. If the soft robotic gripper is improved to achieve greater performance, it will be suitable for real-world applications. © 2024, Gumushane University. All rights reserved.Öğe Investigation of the performance of the elastomer-based soft robotic gripper produced by the bubble casting technique(2024) Eroğlu, MuratA soft robotic actuator was produced by the bubble casting technique, which is composed of elastomeric material. Investigations were conducted to determine how the viscosity of the liquid elastomer affected how the robotic actuator bent. The gripper's curvature, response time, and load-carying capacity were measured, and the relation between applied air pressure and these characteristics was examined. Moreover, the effect of environmental factors (dry, wet and oily) on the load-carrying capacity of the gripper was investigated. These findings demonstrate that as applied air pressure is increased, the gripper's response time, curvature, and load-carrying capacity all increase. For all applied pressures, the highest load-carrying capacity of the gripper was observed in a dry environment. The grippers load-carrying capacity in a dry environment was approximately 2.5 g, 3.5 g, and 5.9 g at pressures of 30 kPa, 35 kPa, and 40 kPa, respectively. By altering the waiting time, the elastomer's viscosity could be managed. The ideal waiting time was found to be between 3 and 4 minutes for optimal bending performance. If the soft robotic gripper is improved to achieve greater performance, it will be suitable for real-world applications.Öğe Production of Bio-Polymer Structures by Soft Molding Method with Biomimetic Approach(2021) Arslanhan, Melike; Eroğlu, Murat; Kaykılarlı, Cantekin; Şam Parmak, Ebru DevrimBiomimetic is the name of the approach that seeks sustainable solutions to the problems, taking the perfect functioning of nature for millions of years. The interest shown in biomimetic surfaces, inspired by multi-scale structures found in many plants and animals, is increasing day by day. Especially the unique wettability properties of the lotus leaf and rose petal. In this study, inspired by the structures of lotus leaf and rose petal, using the soft casting method with dental bio-polymer materials, structures with pillar dimensions of micron (µm) and millimeter (mm) were produced. These structures are replicated from two commercial products with different pillar lengths and different pillar shapes, mushroom and conical needle tips. Surface topographies of the replicated final products were analyzed by optical and stereo microscopes. Contact angles were tested to examine the wettability properties of the surfaces. According to the microscope results obtained, the demolding process, which is the riskiest step of the replication process, was successfully passed thanks to soft casting. Contact angle analysis showed that different pillar lengths and different pillar shapes changed the wettability properties of the replicated final product. The replicated mushroom-shaped micron-scale pillar structures exhibited a rose-petal effect and hydrophobic properties (approximately 1000) with only a single-scale configuration, while conical needle-shaped pillars of millimeter (mm) scale did not show any specific wetabilitty property.
