Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
Browse
2 results
Search Results
Book Part An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators(Springer, 2021) Görgülü, İbrahimcan; Paksoy, Erkan; Carbone, Giuseppe; Dede, Mehmet İsmet CanIn 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.Book Part Citation - Scopus: 2Computation Time Efficient Stiffness Analysis of the Modified R-Cube Mechanism(Springer, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet CanParallel manipulators are known to be more stiff than the serial manipulators. However, modeling the stiffness for parallel manipulators are difficult compared to serial manipulators due to the constrained structure and passive joints. In addition, computation of the stiffness model for parallel manipulators are exhausting since it requires an iterative solution algorithm due requirement of force-position convergence of all serial chains connecting to the same mobile platform. Direct solutions are faster however, they lack in accuracy. In this study, direct solution is preferred for real-time application and analytic stiffness model of the modified R-CUBE mechanism is obtained by using Virtual Joint Method (VJM). The finite element (FE) model is constructed and simulated to validate the analytical model. Then, a combination of external wrenches $$\pm 5$$ N in various directions are applied on the mobile platform in both FE and VJM in some critical poses. Finally, the computed numerical results are listed and compared along with their computation times. © Springer Nature Switzerland AG 2019