Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

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Access Right: Closed AccessAuthor: search.filters.author.Carbone, Giuseppe

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  • Article
    Citation - WoS: 3
    Citation - Scopus: 3
    Experimental Structural Stiffness Analysis of a Surgical Haptic Master Device Manipulator
    (American Society of Mechanical Engineers, 2021) Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Carbone, Giuseppe
    This paper deals with haptic devices for master-slave telesurgical applications. Namely, a stiffness model fitting methodology and its fine-tuning are proposed based on experimental results. In particular, the proposed procedure is based on virtual joint structural stiffness modeling to be applied in time-efficient compliance compensation strategies. A specific case study is discussed by referring to the HISS haptic device that has been developed and built at Izmir Institute of Technology. Two different experimental setups are designed for stiffness evaluation tests. Experimental results are discussed to demonstrate their implementation in the proposed methodology for the fine-tuning of stiffness model.
  • Book Part
    An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators
    (Springer, 2021) Görgülü, İbrahimcan; Paksoy, Erkan; Carbone, Giuseppe; Dede, Mehmet İsmet Can
    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.