Please use this identifier to cite or link to this item: 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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