Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism

Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/12077

Title:	Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism
Authors:	Paksoy, Erkan Dede, Mehmet İsmet Can Kiper, Gökhan
Keywords:	Positioning accuracy Parallel mechanism Experimental compliance matrix derivation
Publisher:	Springer
Abstract:	If the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.
URI:	https://hdl.handle.net/11147/12077 https://doi.org/10.1007/978-3-030-91892-7_33
Appears in Collections:	Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

File	Description	Size	Format
Paksoy_et_al.pdf	Conference Paper	12.36 MB	Adobe PDF	View/Open

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