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Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

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dc.contributor.author Selvi, Özgün
dc.date.accessioned 2022-05-27T12:52:10Z
dc.date.available 2022-05-27T12:52:10Z
dc.date.issued 2021
dc.identifier.citation Selvi, Özgün (2021). "Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method", Robotica. tr_TR
dc.identifier.issn 0263-5747
dc.identifier.uri http://hdl.handle.net/20.500.12416/5601
dc.description.abstract SUMMARY Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective. © The Author(s), 2021. Published by Cambridge University Press. tr_TR
dc.language.iso eng tr_TR
dc.relation.isversionof 10.1017/S0263574721001351 tr_TR
dc.rights info:eu-repo/semantics/closedAccess tr_TR
dc.subject Decomposition Method tr_TR
dc.subject Overconstrained tr_TR
dc.subject Parallel Manipulator tr_TR
dc.title Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method tr_TR
dc.type article tr_TR
dc.relation.journal Robotica tr_TR
dc.contributor.authorID 46949 tr_TR
dc.contributor.department Çankaya Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü tr_TR


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