Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Citation - Scopus: 2Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism(Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Kiper, GökhanIf the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.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: 5An Experimental Test Procedure for Validation of Stiffness Model: a Case Study for R-Cube Parallel Mechanism(Springer, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Carbone, GiuseppeHaptic 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.