Structural Compliance Effects on the Accuracy and Safety of a R-Cube Haptic Device
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Abstract
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.
Description
28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019; Kaiserslautern; Germany; 19 June 2019 through 21 June 2019
Keywords
Haptic devices, Parallel robots, Stiffness, Parallel robots, Haptic devices; Parallel robots; Safety; Stiffness, Haptic devices, Stiffness
Fields of Science
0209 industrial biotechnology, 0203 mechanical engineering, 02 engineering and technology
Citation
Carbone, G., Acinapura, A., Mundo, D., Görgülü, İ., and Dede, M. İ. C. (2019). Structural compliance effects on the accuracy and safety of a R-CUBE haptic device. In Berns K., Görges D. (Eds.), Paper presented at the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), Kaiserslautern; Germany (pp. 463-470). Cham: Springer.
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1
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980
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463
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470
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