An Experimental Test Procedure for Validation of Stiffness Model: a Case Study for R-Cube Parallel Mechanism
| dc.contributor.author | Görgülü, İbrahimcan | |
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.contributor.author | Carbone, Giuseppe | |
| dc.coverage.doi | 10.1007/978-3-030-30036-4_35 | |
| dc.date.accessioned | 2019-10-03T13:24:32Z | |
| dc.date.available | 2019-10-03T13:24:32Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract | 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. | en_US |
| dc.description.sponsorship | The Scienti c and Technological Research Council of Turkey via grant number 117M405; | en_US |
| dc.identifier.citation | Görgülü, İ., Dede, M.İ.C., and Carbone, G. (2019). An experimental test procedure for validation of stiffness model: A case study for R-CUBE parallel mechanism. In C-H. Kuo, P-C. Lin, T. Essomba, and G-C. Chen (Eds.), Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, (pp. 391-402). Cham: Springer. doi:10.1007/978-3-030-30036-4_35 | en_US |
| dc.identifier.doi | 10.1007/978-3-030-30036-4_35 | en_US |
| dc.identifier.doi | 10.1007/978-3-030-30036-4_35 | |
| dc.identifier.isbn | 978-3-030-30036-4 | |
| dc.identifier.scopus | 2-s2.0-85073146109 | |
| dc.identifier.uri | https://doi.org/10.1007/978-3-030-30036-4_35 | |
| dc.identifier.uri | https://hdl.handle.net/11147/7299 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer | en_US |
| dc.relation.ispartof | Robotics and Mechatronics | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Virtual joint method | en_US |
| dc.subject | Parallel mechanism | en_US |
| dc.subject | Experimental stiffness validation | en_US |
| dc.title | An Experimental Test Procedure for Validation of Stiffness Model: a Case Study for R-Cube Parallel Mechanism | en_US |
| dc.type | Book Part | en_US |
| dspace.entity.type | Publication | |
| gdc.author.id | 0000-0001-6220-6678 | |
| gdc.author.id | 0000-0001-6220-6678 | en_US |
| gdc.author.institutional | Görgülü, İbrahimcan | |
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
| gdc.bip.impulseclass | C5 | |
| gdc.bip.influenceclass | C5 | |
| gdc.bip.popularityclass | C4 | |
| gdc.coar.access | open access | |
| gdc.coar.type | text::book::book part | |
| gdc.collaboration.industrial | false | |
| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 402 | en_US |
| gdc.description.publicationcategory | Kitap Bölümü - Uluslararası | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 391 | en_US |
| gdc.description.volume | 78 | en_US |
| gdc.description.wosquality | N/A | |
| gdc.identifier.openalex | W2975186700 | |
| gdc.index.type | Scopus | |
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| gdc.oaire.impulse | 3.0 | |
| gdc.oaire.influence | 3.3278083E-9 | |
| gdc.oaire.isgreen | true | |
| gdc.oaire.keywords | Experimental stiffness validation | |
| gdc.oaire.keywords | Virtual joint method | |
| gdc.oaire.keywords | Parallel mechanism | |
| gdc.oaire.keywords | Experimental stiffness validation; Parallel mechanism; Virtual Joint Method | |
| gdc.oaire.popularity | 4.475808E-9 | |
| gdc.oaire.publicfunded | false | |
| gdc.openalex.collaboration | International | |
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| gdc.openalex.toppercent | TOP 10% | |
| gdc.opencitations.count | 2 | |
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| gdc.relation.tubitak | info:eu-repo/grantAgreement/TUBITAK/MAG/117M405 | |
| gdc.scopus.citedcount | 5 | |
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