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https://hdl.handle.net/11147/7298| Title: | Structural compliance effects on the accuracy and safety of a R-CUBE haptic device | Authors: | Carbone, Giuseppe Acinapura, Antonio Mundo, Domenico Görgülü, İbrahimcan Dede, Mehmet İsmet Can |
Keywords: | Haptic devices Parallel robots Stiffness |
Publisher: | Springer Verlag | Source: | Carbone, G., Acinapura, A., Mundo, D., Görgülü, İ., and Dede, M. İ. C. (2019). Structural compliance effects on the accuracy and safety of a R-CUBE haptic device. In Berns K., Görges D. (Eds.), Paper presented at the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), Kaiserslautern; Germany (pp. 463-470). Cham: Springer. | Abstract: | This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions. | Description: | 28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019; Kaiserslautern; Germany; 19 June 2019 through 21 June 2019 | URI: | https://doi.org/10.1007/978-3-030-19648-6_53 https://hdl.handle.net/11147/7298 |
ISBN: | 978-3-030-19647-9 |
| Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 7298.pdf | Conference Paper (submittedVersion) | 1.14 MB | Adobe PDF |  View/Open |
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