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Title: An experimental test procedure for validation of stiffness model: A case study for R-CUBE parallel mechanism
Authors: Görgülü, İbrahimcan
Dede, Mehmet İsmet Can
Carbone, Giuseppe
Keywords: Virtual joint method
Parallel mechanism
Experimental stiffness validation
Issue Date: 2019
Publisher: Springer
Source: Görgülü, İ., Dede, M.İ.C., and Carbone, G. (2019). An experimental test procedure for validation of stiffness model: A case study for R-CUBE parallel mechanism. In C-H. Kuo, P-C. Lin, T. Essomba, and G-C. Chen (Eds.), Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, (pp. 391-402). Cham: Springer. doi:10.1007/978-3-030-30036-4_35
Abstract: Haptic device manipulators are used for generating haptic feedback. This feedback is composed of force which is regulated with respect to motion information. Accurate generation of the feedback requires exact position acquisition of the end-effector. Due to the compliant bodies of a manipulator, a stiffness model is needed to predict this position. Previously, Virtual Joint Method was adopted to obtain the stiffness model of an R-CUBE parallel haptic mechanism. In this paper, experimental test setup and experimental procedure are described for validating this stiffness model, its engineering feasibility and soundness of the proposed model.
ISBN: 978-3-030-30036-4
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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