Skip to main content
SpringerLink
Log in
Book cover

IFToMM International Symposium on Robotics and Mechatronics

ISRM 2019: Robotics and Mechatronics pp 391–402Cite as

An Experimental Test Procedure for Validation of Stiffness Model: A Case Study for R-CUBE Parallel Mechanism

  • Conference paper
  • First Online:

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 78))

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.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Kern, T.A.: Engineering Haptic Devices: A Beginner’s Guide for Engineers. Springer, London (2009)

    Book  Google Scholar 

  2. Pinto, C., Corral, J., Altuzarra, O., Hernández, A.: A methodology for static stiffness mapping in lower mobility parallel manipulators with decoupled motions. Robotica 28(5), 719–735 (2010)

    Article  Google Scholar 

  3. Carbone, G.: Stiffness analysis and experimental validation of robotic systems. Front. Mech. Eng. 6(2), 182–196 (2011)

    Google Scholar 

  4. Yuan, H., Courteille, E., Deblaise, D.: Elastodynamic analysis of cable-driven parallel manipulators considering dynamic stiffness of sagging cables. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4055–4060. IEEE (2014)

    Google Scholar 

  5. Schwenke, H., Knapp, W., Haitjema, H., Weckenmann, A., Schmitt, R., Delbressine, F.: Geometric error measurement and compensation of machines-an update. CIRP Ann. 57(2), 660–675 (2008)

    Article  Google Scholar 

  6. Nyce, D.S.: Position Sensors. Wiley, Hoboken (2016)

    Book  Google Scholar 

  7. Taner, B., Dede, M.I.C.: Image processing based stiffness mapping of a haptic device. In: New Advances in Mechanisms, Mechanical Transmissions and Robotics, pp. 447–454. Springer (2017)

    Google Scholar 

  8. Švaco, M., Šekoranja, B., Šuligoj, F., Jerbić, B.: Calibration of an industrial robot using a stereo vision system. Procedia Eng. 69, 459–463 (2014)

    Article  Google Scholar 

  9. Slavković, N.R., Milutinović, D.S., Kokotović, B.M., Glavonjić, M.M., Živanović, S.T., Ehmann, K.F.: Cartesian compliance identification and analysis of an articulated machining robot. FME Trans. 41(2), 83–95 (2013)

    Google Scholar 

  10. Hernández-Martínez, E.E., Ceccarelli, M., Carbone, G., López-Cajún, C.S., Jáuregui-Correa, J.C.: Characterization of a cable-based parallel mechanism for measurement purposes#. Mech. Based Des. Struct. Mach. 38(1), 25–49 (2010)

    Article  Google Scholar 

  11. Zhang, X., Yang, W., Cheng, X., Chen, Y.: Stiffness identification for serial robot manipulator based on uncertainty approach. In: International Conference on Intelligent Robotics and Applications, pp. 378–388. Springer (2011)

    Google Scholar 

  12. Klimchik, A., Pashkevich, A., Wu, Y., Caro, S., Furet, B.: Design of calibration experiments for identification of manipulator elastostatic parameters. arXiv preprint arXiv:1211.6101 (2012)

  13. Görgülü, İ., Dede, M.: Computation time efficient stiffness analysis of the modified R-CUBE mechanism. In: The International Conference of IFToMM ITALY, pp. 231–239. Springer (2018)

    Google Scholar 

  14. Li, W., Gao, F., Zhang, J.: R-CUBE, a decoupled parallel manipulator only with revolute joints. Mech. Mach. Theory 40(4), 467–473 (2005)

    Article  Google Scholar 

  15. Gosselin, C.: Stiffness analysis of parallel mechanisms using a lumped model. Int. J. Robotics Automat. 17, 17–27 (2002)

    Google Scholar 

  16. Pashkevich, A., Chablat, D., Wenger, P.: Stiffness analysis of overconstrained parallel manipulators. Mech. Mach. Theory 44(5), 966–982 (2009)

    Article  Google Scholar 

Download references

Acknowledgement

The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 2014–2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds. The study is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405. Also, the first author wishes to thank ACRI association for a grant which supported him for a period of study at LARM in Cassino, Italy within 2018.

Author information

Authors and Affiliations

  1. Izmir Institute of Technology, Izmir, Turkey

    İbrahimcan Görgülü & M. İ. Can Dede

  2. DIMEG, University of Calabria, Rende, Italy

    Giuseppe Carbone

  3. Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Giuseppe Carbone

Authors
  1. İbrahimcan Görgülü
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. M. İ. Can Dede
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Giuseppe Carbone
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to İbrahimcan Görgülü .

Editor information

Editors and Affiliations

  1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia

    Chin-Hsing Kuo

  2. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

    Pei-Chun Lin

  3. Department of Mechanical Engineering, National Central University, Taoyuan City, Taiwan

    Terence Essomba

  4. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan

    Guan-Chen Chen

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Görgülü, İ., Dede, M.İ.C., Carbone, G. (2020). An Experimental Test Procedure for Validation of Stiffness Model: A Case Study for R-CUBE Parallel Mechanism. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_35

Download citation

Publish with us

Policies and ethics

Search

Navigation