Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/11223
Title: Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms
Authors: Boztaş, Sercan
Kiper, Gökhan
Keywords: Enumeration
Instantaneous mobility analysis
Parallel manipulators
Publisher: Cambridge University Press
Abstract: In this study, several joint axis orientations on equilateral platforms and the limbs of 3-UPU parallel manipulators (PMs) are examined. The generated joint layouts for the platforms were matched with each other to generate and enumerate manipulator architectures based on certain assumptions. The structures of thus obtained manipulators are examined and limb types were determined. These limb types were analyzed using screw theory. The instantaneous mobility of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one of the manipulators is performed using a software package as an example. Among several different 3-UPU PM architectures, 118 novel 3-UPU PMs with non-parasitic 3-degrees-of-freedom are significantly important. The classified 3-UPU PMs with determined motion characteristics can be used by researchers as a design alternative for their specific design task. © The Author(s) 2021. Published by Cambridge University Press.
URI: http://doi.org/10.1017/S0263574721001259
https://hdl.handle.net/11147/11223
ISSN: 0263-5747
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Show full item record



CORE Recommender

SCOPUSTM   
Citations

1
checked on Apr 5, 2024

WEB OF SCIENCETM
Citations

1
checked on May 17, 2024

Page view(s)

10,114
checked on May 20, 2024

Google ScholarTM

Check




Altmetric


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.