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dc.contributor.authorKiper, Gökhan
dc.contributor.authorDede, Mehmet İsmet Can
dc.contributor.authorUzunoğlu, Emre
dc.contributor.authorMastar, Ercan
dc.date.accessioned2016-03-17T08:54:34Z
dc.date.available2016-03-17T08:54:34Z
dc.date.issued2015-10
dc.identifier.isbn9789860460988
dc.identifier.urihttp://www.iftomm2015.tw/IFToMM2015CD/PDF/OS13-095.pdf
dc.identifier.urihttp://hdl.handle.net/11147/4485
dc.description.abstractOverconstrained mechanisms prove useful in applications where high stiffness and low weight is required against high amount of forces while keeping high precision. This study issues a planar two degrees-of-freedom overconstrained parallel manipulator for positioning the end-effector with high acceleration values (>5g) with a positioning precision in the order of 30 micrometers. Since the manufacturing errors were compatible with the end-effector positioning errors, it was required to perform some system identification before the precision and repeatability tests. For the system identification, the end-effector position and motor input values are recorded. However, since the mechanism is overconstrained, the link lengths could not be obtained due to the lack of analytical inverse kinematics solution. In order to cope with this problem, the hidden robot concept is utilized in order to fit a simple kinematic model between the task space and the joint space of the manipulator. Further calibration studies are carried out using the error correction matrix. The test results are presented.en_US
dc.language.isoengen_US
dc.publisherIFToMMen_US
dc.relation.isversionof10.6567/IFToMM.14TH.WC.OS13.095en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectHidden robot concepten_US
dc.subjectOverconstrained mechanismen_US
dc.subjectCalibration of manipulatorsen_US
dc.titleUse of hidden robot concept for calibration of an over-constrained mechanismen_US
dc.typeconferenceObjecten_US
dc.contributor.authorIDTR24470en_US
dc.contributor.authorIDTR26957en_US
dc.contributor.iztechauthorKiper, Gökhan
dc.contributor.iztechauthorDede, Mehmet İsmet Can
dc.relation.journalThe 14th IFToMM World Congressen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Makina Mühendisliği Bölümüen_US


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