An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators
| dc.contributor.author | Görgülü, İbrahimcan | |
| dc.contributor.author | Paksoy, Erkan | |
| dc.contributor.author | Carbone, Giuseppe | |
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.coverage.doi | 10.1007/978-3-030-55807-9_33 | |
| dc.date.accessioned | 2021-01-24T18:28:31Z | |
| dc.date.available | 2021-01-24T18:28:31Z | |
| dc.date.issued | 2021 | |
| dc.description.abstract | 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. | en_US |
| dc.description.sponsorship | Acknowledgments. The study is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405 and Izmir Institute of Technology via grant number 2016IYTE49. We thank Mr. Barış Taner, who contributed to the design of the experimental test setup and Ms. Hazal Emet who contributed to the experimental procedure. | en_US |
| dc.identifier.doi | 10.1007/978-3-030-55807-9_33 | en_US |
| dc.identifier.issn | 2211-0984 | |
| dc.identifier.issn | 2211-0992 | |
| dc.identifier.scopus | 2-s2.0-85090187416 | |
| dc.identifier.uri | https://doi.org/10.1007/978-3-030-55807-9_33 | |
| dc.identifier.uri | https://hdl.handle.net/11147/9782 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer | en_US |
| dc.relation.ispartof | Mechanisms and Machine Science | en_US |
| dc.rights | info:eu-repo/semantics/closedAccess | en_US |
| dc.subject | Experimental stiffness test | en_US |
| dc.subject | Parallel mechanism | en_US |
| dc.subject | Stiffness evaluation | en_US |
| dc.title | An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators | en_US |
| dc.type | Book Part | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Görgülü, İbrahimcan | |
| gdc.author.institutional | Paksoy, Erkan | |
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
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| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 294 | en_US |
| gdc.description.publicationcategory | Kitap Bölümü - Uluslararası | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 286 | en_US |
| gdc.description.volume | 91 | en_US |
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| gdc.oaire.keywords | Experimental stiffness test | |
| gdc.oaire.keywords | Stiffness evaluation | |
| gdc.oaire.keywords | Parallel mechanism | |
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