Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9782
Title: An experimental setup and procedure for stiffness evaluation of robot manipulators
Authors: Görgülü, İbrahimcan
Paksoy, Erkan
Carbone, Giuseppe
Dede, Mehmet İsmet Can
Keywords: Experimental stiffness test
Parallel mechanism
Stiffness evaluation
Issue Date: 2021
Publisher: Springer Verlag
Abstract: In this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator’s end-effector is coupled with the R-CUBE’s mobile platform. As the gantry manipulator is actuated the resultant reaction forces/moments are measured via a force\torque sensor. Subsequently, compliant displacements of R-CUBE are measured by using a coordinate measuring machine. The obtained results are presented and discussed in this paper. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.
URI: https://doi.org/10.1007/978-3-030-55807-9_33
https://hdl.handle.net/9782
ISSN: 2211-0984
2211-0992
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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