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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Hayward, V., Astley, O.R., et al.: Haptic interfaces and devices. Sens. Rev. 24(1), 16–29 (2004)
Okamura, A.M.: Haptic feedback in robot-assisted minimally invasive surgery. Curr. Opin. Urol. 19(1), 102 (2009)
Salisbury, J.K., Srinivasan, A.M.: Projects in VR. Phantom - based haptic interaction with virtual objects. IEEE Comput. Graph. Appl. 17, 6–10 (1997)
ISO 14121–1: Safety of machinery. Risk assessment. Part 1: principles (2007)
EN ISO 13855: Safety of machinery – the positioning of protective equipment in respect of approach speeds of parts of the human body (2010)
ISO/DIS 13482: Robots and robotic devices – safety requirements for non-industrial robots – non-medical personal care robot (2011)
Li, W., Gao, F., Zhang, J.: R-CUBE, a decoupled parallel manipulator only with revolute joints. Mech. Mach. Theory 40(4), 467–473 (2005)
Takeda, Y., Kamiyama, K., Maki, Y., Higuchi, M., Sugimoto, K.: Development of position-orientation decoupled spatial in-parallel actuated mechanisms with six degrees of freedom. J. Robot. Mechatron. 17(1), 59–62 (2005)
Biligincan, T., Can Dede, M.I.: Development of a R-CUBE-based general purpose haptic device system. In: 10th Biennial Conference on Engineering Systems Design and Analysis, ASME 2010, Istanbul, pp. 675–682 (2010). https://doi.org/10.1115/esda2010-24596
Gorgulu, I., Dede, M.I.: Computation time efficient stiffness analysis of the modified R-CUBE mechanism. In: International Conference of IFToMM ITALY, pp. 231–239. Springer (2018)
Carbone, G.: Stiffness analysis and experimental validation of robotic systems. Front. Mech. Eng. 6(2), 182–196 (2011)
Hibbeler, R.C.: Mechanics of Materials. Pearson, London (2014)
Cordero, C.A., Carbone, G., Ceccarelli, M., Echavarri, J., Munoz, J.L.: Experimental tests in human-robot collision evaluation and characterization of a new safety index for robot operation. Mech. Mach. Theory 80, 184–199 (2014)
Carbone, G., Ceccarelli, M.: Experimental tests on feasible operation of a finger mechanism in the LARM hand. Mech. Based Des. Struct. Mach. 36, 1–13 (2008)
Carbone, G., Iannone, S., Ceccarelli, M.: Regulation and control of LARM hand III. Robot. Comput. Integr. Manuf. 26, 202–211 (2010)
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)
Major, K.A., Major, Z.Z., Carbone, G., Pisla, A., Vaida, C., Gherman, B., Pisla, D.L.: Ranges of motion as basis for robot-assisted poststroke. Hum. Vet. Med. 8(4), 192–196 (2016)
Acknowledgments
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.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Carbone, G., Acinapura, A., Mundo, D., Gorgulu, I., Can Dede, M.I. (2020). Structural Compliance Effects on the Accuracy and Safety of a R-CUBE Haptic Device. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_53
Download citation
DOI: https://doi.org/10.1007/978-3-030-19648-6_53
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-19647-9
Online ISBN: 978-3-030-19648-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)