A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator
| dc.contributor.author | Tetik, Halil | |
| dc.contributor.author | Kiper, Gökhan | |
| dc.coverage.doi | 10.1007/978-3-319-60867-9_40 | |
| dc.date.accessioned | 2018-02-13T10:53:03Z | |
| dc.date.available | 2018-02-13T10:53:03Z | |
| dc.date.issued | 2018 | |
| dc.description.abstract | 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. | en_US |
| dc.identifier.citation | Tetik, H, and Kiper, G. (2018). A geometrical approach for the singularity analysis of a 3-RRS parallel manipulator. In Zeghloul S, Romdhane L, Laribi MA (Eds), Computational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017(pp. 349-356). Cham, Switzerland: Springer | en_US |
| dc.identifier.doi | 10.1007/978-3-319-60867-9_40 | en_US |
| dc.identifier.doi | 10.1007/978-3-319-60867-9_40 | |
| dc.identifier.issn | 2211-0984 | |
| dc.identifier.scopus | 2-s2.0-85026310881 | |
| dc.identifier.uri | http://doi.org/10.1007/978-3-319-60867-9_40 | |
| dc.identifier.uri | https://hdl.handle.net/11147/6780 | |
| dc.language.iso | en | en_US |
| dc.publisher | Springer Verlag | en_US |
| dc.relation.ispartof | Computational Kinematics: Proceedings of the 7th International Workshop on Computational Kinematics that was held at Futuroscope-Poitiers, France, in May 2017 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Parallel manipulators | en_US |
| dc.subject | Jacobian analysis | en_US |
| dc.subject | Singularity analysis | en_US |
| dc.subject | Singularity surfaces | en_US |
| dc.subject | Manipulators | en_US |
| dc.title | A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Tetik, Halil | |
| gdc.author.institutional | Kiper, Gökhan | |
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| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 356 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 349 | en_US |
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| gdc.oaire.keywords | Jacobian analysis | |
| gdc.oaire.keywords | Singularity analysis | |
| gdc.oaire.keywords | Manipulators | |
| gdc.oaire.keywords | Parallel manipulators | |
| gdc.oaire.keywords | Singularity surfaces | |
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