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Position Kinematics of a 3-RRS Parallel Manipulator

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ROMANSY 21 - Robot Design, Dynamics and Control (ROMANSY21 2016)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

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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\(^{th}\) order 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.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Izmir Institute of Technology, Izmir, Turkey

    Halil Tetik & Gokhan Kiper

  2. Department of Engineering Design, Indian Institute of Technology Madras, Chennai, India

    Rohit Kalla & Sandipan Bandyopadhyay

Authors
  1. Halil Tetik
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  2. Rohit Kalla
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  3. Gokhan Kiper
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  4. Sandipan Bandyopadhyay
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Corresponding author

Correspondence to Halil Tetik .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Tetik, H., Kalla, R., Kiper, G., Bandyopadhyay, S. (2016). Position Kinematics of a 3-RRS Parallel Manipulator. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_8

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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