Mechanical Engineering / Makina Mühendisliği

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

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Publisher: search.filters.publisher.Springer VerlagSubject: search.filters.subject.Stiffness

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Now showing 1 - 2 of 2
  • Conference Object
    Citation - Scopus: 1
    Structural Compliance Effects on the Accuracy and Safety of a R-Cube Haptic Device
    (Springer Verlag, 2019) Carbone, Giuseppe; Acinapura, Antonio; Mundo, Domenico; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    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.
  • Conference Object
    Citation - Scopus: 2
    A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices
    (Springer Verlag, 2019) Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can
    A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic aspects of robots that can be applied in evaluating the unpowered system performance of kinesthetic haptic devices. The physical meanings of these metrics are discussed and the important factors that affect the unpowered system performance of a kinesthetic haptic device are revealed.