Mechanical Engineering / Makina Mühendisliği

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

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Publisher: search.filters.publisher.SpringerSubject: search.filters.subject.Virtual joint method

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  • Book Part
    Citation - Scopus: 2
    Computation Time Efficient Stiffness Analysis of the Modified R-Cube Mechanism
    (Springer, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    Parallel 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
  • Book Part
    Citation - Scopus: 5
    An 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, Giuseppe
    Haptic 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.