Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7860
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dc.contributor.authorGörgülü, İbrahimcantr
dc.contributor.authorDede, Mehmet İsmet Cantr
dc.date.accessioned2020-07-18T03:35:17Z-
dc.date.available2020-07-18T03:35:17Z-
dc.date.issued2019-
dc.identifier.issn2211-0984-
dc.identifier.issn2211-0992-
dc.identifier.urihttps://doi.org/10.1007/978-3-030-03320-0_25-
dc.identifier.urihttps://hdl.handle.net/11147/7860-
dc.description.abstractParallel manipulators are known to be more stiff than the serial manipulators. However, modeling the stiffness for parallel manipulators are difficult compared to serial manipulators due to the constrained structure and passive joints. In addition, computation of the stiffness model for parallel manipulators are exhausting since it requires an iterative solution algorithm due requirement of force-position convergence of all serial chains connecting to the same mobile platform. Direct solutions are faster however, they lack in accuracy. In this study, direct solution is preferred for real-time application and analytic stiffness model of the modified R-CUBE mechanism is obtained by using Virtual Joint Method (VJM). The finite element (FE) model is constructed and simulated to validate the analytical model. Then, a combination of external wrenches $$\pm 5$$ N in various directions are applied on the mobile platform in both FE and VJM in some critical poses. Finally, the computed numerical results are listed and compared along with their computation times. © Springer Nature Switzerland AG 2019en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofMechanisms and Machine Scienceen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectFinite element analysisen_US
dc.subjectParallel manipulatoren_US
dc.subjectStiffnessen_US
dc.subjectVirtual joint methoden_US
dc.titleComputation time efficient stiffness analysis of the modified R-CUBE mechanismen_US
dc.typeBook Parten_US
dc.institutionauthorGörgülü, İbrahimcantr
dc.institutionauthorDede, Mehmet İsmet Cantr
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume68en_US
dc.identifier.startpage231en_US
dc.identifier.endpage239en_US
dc.identifier.scopus2-s2.0-85056262163en_US
dc.relation.publicationcategoryKitap Bölümü - Uluslararasıtr
dc.identifier.doi10.1007/978-3-030-03320-0_25-
dc.relation.doi10.1007/978-3-030-03320-0_25en_US
dc.coverage.doi10.1007/978-3-030-03320-0_25en_US
dc.identifier.scopusqualityQ4-
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextnone-
item.cerifentitytypePublications-
item.fulltextNo Fulltext-
item.openairetypeBook Part-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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