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https://hdl.handle.net/11147/6780| Title: | A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator | Authors: | Tetik, Halil Kiper, Gökhan |
Keywords: | Parallel manipulators Jacobian analysis Singularity analysis Singularity surfaces Manipulators |
Publisher: | Springer Verlag | Source: | 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 | 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. | URI: | http://doi.org/10.1007/978-3-319-60867-9_40 http://hdl.handle.net/11147/6780 |
ISSN: | 2211-0984 |
| Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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