Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

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Institution Author: search.filters.institutionAuthor.Tetik, HalilSubject: search.filters.subject.Parallel manipulators

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  • Conference Object
    Citation - WoS: 6
    Citation - Scopus: 3
    A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
    (Springer Verlag, 2018) Tetik, Halil; Kiper, Gökhan
    Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.