Position Kinematics of a 3-Rrs Parallel Manipulator
| dc.contributor.author | Tetik, Halil | |
| dc.contributor.author | Kalla, Rohit | |
| dc.contributor.author | Kiper, Gökhan | |
| dc.contributor.author | Bandyopadhyay, Sandipan | |
| dc.coverage.doi | 10.1007/978-3-319-33714-2_8 | |
| dc.date.accessioned | 2016-07-15T12:59:12Z | |
| dc.date.available | 2016-07-15T12:59:12Z | |
| dc.date.issued | 2016 | |
| dc.description.abstract | The 3-RRS parallel manipulator presented in this study comprises of parallel revolute joint axes in each leg. The manipulator is composed of a base and a moving platform which are in the shape of equilateral triangles. Moving platform has two rotational and one translational degrees-of-freedom. This study formulates the forward and inverse kinematics of the parallel manipulator. A 16-degree polynomial in terms of one of the passive joint variables is obtained for the forward kinematic analysis. Numerical results and the corresponding pose of the manipulator for inverse and forward kinematics are presented. | en_US |
| dc.identifier.citation | Tetik H., Kalla, R., Kiper, G., Bandyopadhyay, S., Position Kinematics of a 3-RRS Parallel Manipulator, in: Parenti-Castelli, V., Schiehlen, W. (Eds.), ROMANSY 21 – Robot Design, Dynamics and Control, Springer, 2016, 65-72 | en_US |
| dc.identifier.doi | 10.1007/978-3-319-33714-2_8 | en_US |
| dc.identifier.doi | 10.1007/978-3-319-33714-2_8 | |
| dc.identifier.issn | 0254-1971 | |
| dc.identifier.scopus | 2-s2.0-85020697028 | |
| dc.identifier.uri | https://doi.org/10.1007/978-3-319-33714-2_8 | |
| dc.identifier.uri | https://hdl.handle.net/11147/1912 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.relation.ispartof | ROMANSY 21 – Robot Design, Dynamics and Control | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | 3-RRS parallel manipulator | en_US |
| dc.subject | Inverse kinematics | en_US |
| dc.subject | Forward kinematics | en_US |
| dc.title | Position Kinematics of a 3-Rrs Parallel Manipulator | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Kiper, Gökhan | |
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| gdc.collaboration.industrial | false | |
| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 72 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 65 | en_US |
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| gdc.oaire.keywords | Inverse kinematics | |
| gdc.oaire.keywords | Forward kinematics | |
| gdc.oaire.keywords | 3-RRS parallel manipulator | |
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