A beat up mechanism, the crank rocker type is presented for handmade carpet looms. Permanent magnet DC motor dynamics with gearbox and a beat-up mechanism's mathematical model are considered together. The simulation results and discussions are presented to evaluate the performance of crank rocker mechanism model. GA-PID controller is applied to motion control during beating up action.

The most important production steps of the handmade carpets produced still by human labor are; knotting (Turkish knot or Persian knot), shedding, picking and tightening of the carpet with a beater (called as beat up operation). Functional requirements during beat up considered. This study is then concentrated on beat up mechanism proposed for handmade carpet looms. A beat-up mechanism model performedvia Matlab/Simulink environment to verify the kinematic objectives assigned. Simulation results are included for the system with further comments on its design and motion control.

Three case studies are performed in robotics and industrial servo press mechanism by using system's nonlinear dynamics. Robotic systems and servo crank press are currently available in Mechanical Engineering Department's laboratory (Gaziantep University/Turkey). Identification and simulation studies are carried out to get dynamic behavior of the systems of interest. Different motion trajectories are applied according to the requirements for all. Soft computing techniques are studied on these systems. Traditional PID is also applied. Control techniques are implemented as PSO-NN (Particle Swarm Optimization-Neural Network), BP (Back Propagation), PSO-PID; PID and also CasFF (Cascade Feed-Forward) control in laboratory testing in this study. All of the studies are given as experimental base herein.