Görgülü, İbrahimcanPaksoy, ErkanCarbone, GiuseppeDede, Mehmet İsmet Can01. Izmir Institute of Technology03.10. Department of Mechanical Engineering03. Faculty of Engineering2021-01-242021-01-2420212211-09842211-0992https://doi.org/10.1007/978-3-030-55807-9_33https://hdl.handle.net/11147/9782In 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.eninfo:eu-repo/semantics/closedAccessExperimental stiffness testParallel mechanismStiffness evaluationBook Part2-s2.0-8509018741610.1007/978-3-030-55807-9_3310.1007/978-3-030-55807-9_33