Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/11223
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dc.contributor.authorBoztaş, Sercan-
dc.contributor.authorKiper, Gökhan-
dc.date.accessioned2021-11-06T09:23:34Z-
dc.date.available2021-11-06T09:23:34Z-
dc.date.issued2022-
dc.identifier.issn0263-5747-
dc.identifier.urihttp://doi.org/10.1017/S0263574721001259-
dc.identifier.urihttps://hdl.handle.net/11147/11223-
dc.description.abstractIn 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.en_US
dc.language.isoenen_US
dc.publisherCambridge University Pressen_US
dc.relation.ispartofRoboticaen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectEnumerationen_US
dc.subjectInstantaneous mobility analysisen_US
dc.subjectParallel manipulatorsen_US
dc.titleEnumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platformsen_US
dc.typeArticleen_US
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.wosWOS:000781230600017en_US
dc.identifier.scopus2-s2.0-85117189706en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1017/S0263574721001259-
dc.description.volume40-
dc.description.volume5-
dc.description.startpage1538-
dc.description.endpage1569-
dc.authorscopusid57298418000-
dc.authorscopusid23985110500-
dc.identifier.scopusqualityQ1-
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextNo Fulltext-
item.languageiso639-1en-
item.openairetypeArticle-
item.cerifentitytypePublications-
crisitem.author.dept03.10. Department of Mechanical Engineering-
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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