Position Kinematics of a 3-Rrs Parallel Manipulator

Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/1912

Title:	Position Kinematics of a 3-Rrs Parallel Manipulator
Authors:	Tetik, Halil Kalla, Rohit Kiper, Gökhan Bandyopadhyay, Sandipan
Keywords:	3-RRS parallel manipulator Inverse kinematics Forward kinematics
Publisher:	Springer Verlag
Source:	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
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.
URI:	http://link.springer.com/chapter/10.1007/978-3-319-33714-2_8 http://hdl.handle.net/11147/1912
ISSN:	0254-1971
Appears in Collections:	Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection