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Year 2018, , 79 - 87, 15.05.2018
https://doi.org/10.31127/tuje.345351

Abstract

References

  • Akçalı, İ. D. and Dittrich, G. (1989a) “Path Generation by Subdomain Method”, Mech. Mach. Theory, Vol. 24, No.1, pp.45-52,
  • Akçali, İ. D. and Dittrich, G. (1989b) “Function Generation by Galerkin’s Method” Mech. mach. theory, Vol. 24, No.1, pp. 39-43
  • Akçalı, İ. D. (1987) “Design of Slider-Crank Mechanism for Function Generation” Proc. 7 World Congress on Theory of Machines and Mechanism, Sevilla, pp. 119-124.
  • Bernier, D., Castelian, V. and Li, X. (1995) “A New Parallel Structure with 6 Degrees of Freedom” 9 World Congress on the Theory of Machines and Mechanisms, Proc. Milano, pp. 8-12.
  • Duffy, J. (1996) Statics and Kinematics with Applications to Robotics, Cambridge University Press, UK.
  • Fu, K. S., Gonzales, R.C. and Lee, C. S. G. (1987) Robotics, Control, Sensing, Vision and Intelligence, McGraw-Hill Book Co., USA.
  • Hartenberg, R. S. and Denavit, J. (1964) Kinematic Synthesis of Linkages, McGraw-Hill Book Co, USA.
  • Harris, D. M. J. (1965). “Parallel-Linkage Robot Coordinate Transformation through Screw Theory” 9th World Congress on the theory of Machines and Mechanisms, Milano, pp. 1565-1568.
  • Groover, M. P., Weiss, Nagel, R. N. and Odrey, N. G. (1986). Industrial Robotics Technology Programming and Applications, McGraw-Hill, Singapore.
  • Koren, Y. (1987) Robotics for Engineers, McGraw-Hill, Singapore.
  • Liu, A. (1995) “Configuration Analysis of a Class of Parallel Structures Using Improved Continuation”, 9th World Congress on the Theory of Machines and Mechanisms, Milano, pp. 155-158.
  • Innocenti, C. and Parenti-Castelli, V. (1990). “Direct Position Analysis of the Stewart Platform Mechanism“ Mech. Mach. Theory, Vol. 25, No. 6, pp. 611- 621.
  • Stadler, W. (1995). Analytical Robotics and Mechatronics, McGraw-Hill Inc., Usa.
  • Raven, (1987). Automatic Control Engineering, 4th Ed.,
  • Mc Graw-Hill Book Co., Usa

APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR

Year 2018, , 79 - 87, 15.05.2018
https://doi.org/10.31127/tuje.345351

Abstract

Manipulator is an important part of a whole robot assembly, forming the mechanical infrastructure of a mechatronic system. Selection of the manipulator affects a broad area extending from modelling to design, from control to operation and furthermore from accuracy to its economy. This study aimed methods of design and operation of a parallel planar robotic assembly have been demonstrated. Modules of the assembly with two degrees of freedom have been designed on a twopoint, two-velocity and three point-position bases. Ways of actuating and controlling the motion of the assembly have been shown. Efficiency and effectiveness of the approaches have been illustrated numerically

References

  • Akçalı, İ. D. and Dittrich, G. (1989a) “Path Generation by Subdomain Method”, Mech. Mach. Theory, Vol. 24, No.1, pp.45-52,
  • Akçali, İ. D. and Dittrich, G. (1989b) “Function Generation by Galerkin’s Method” Mech. mach. theory, Vol. 24, No.1, pp. 39-43
  • Akçalı, İ. D. (1987) “Design of Slider-Crank Mechanism for Function Generation” Proc. 7 World Congress on Theory of Machines and Mechanism, Sevilla, pp. 119-124.
  • Bernier, D., Castelian, V. and Li, X. (1995) “A New Parallel Structure with 6 Degrees of Freedom” 9 World Congress on the Theory of Machines and Mechanisms, Proc. Milano, pp. 8-12.
  • Duffy, J. (1996) Statics and Kinematics with Applications to Robotics, Cambridge University Press, UK.
  • Fu, K. S., Gonzales, R.C. and Lee, C. S. G. (1987) Robotics, Control, Sensing, Vision and Intelligence, McGraw-Hill Book Co., USA.
  • Hartenberg, R. S. and Denavit, J. (1964) Kinematic Synthesis of Linkages, McGraw-Hill Book Co, USA.
  • Harris, D. M. J. (1965). “Parallel-Linkage Robot Coordinate Transformation through Screw Theory” 9th World Congress on the theory of Machines and Mechanisms, Milano, pp. 1565-1568.
  • Groover, M. P., Weiss, Nagel, R. N. and Odrey, N. G. (1986). Industrial Robotics Technology Programming and Applications, McGraw-Hill, Singapore.
  • Koren, Y. (1987) Robotics for Engineers, McGraw-Hill, Singapore.
  • Liu, A. (1995) “Configuration Analysis of a Class of Parallel Structures Using Improved Continuation”, 9th World Congress on the Theory of Machines and Mechanisms, Milano, pp. 155-158.
  • Innocenti, C. and Parenti-Castelli, V. (1990). “Direct Position Analysis of the Stewart Platform Mechanism“ Mech. Mach. Theory, Vol. 25, No. 6, pp. 611- 621.
  • Stadler, W. (1995). Analytical Robotics and Mechatronics, McGraw-Hill Inc., Usa.
  • Raven, (1987). Automatic Control Engineering, 4th Ed.,
  • Mc Graw-Hill Book Co., Usa
There are 15 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Articles
Authors

Hüseyin Mutlu This is me

İskender Özkul

Publication Date May 15, 2018
Published in Issue Year 2018

Cite

APA Mutlu, H., & Özkul, İ. (2018). APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR. Turkish Journal of Engineering, 2(2), 79-87. https://doi.org/10.31127/tuje.345351
AMA Mutlu H, Özkul İ. APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR. TUJE. May 2018;2(2):79-87. doi:10.31127/tuje.345351
Chicago Mutlu, Hüseyin, and İskender Özkul. “APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR”. Turkish Journal of Engineering 2, no. 2 (May 2018): 79-87. https://doi.org/10.31127/tuje.345351.
EndNote Mutlu H, Özkul İ (May 1, 2018) APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR. Turkish Journal of Engineering 2 2 79–87.
IEEE H. Mutlu and İ. Özkul, “APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR”, TUJE, vol. 2, no. 2, pp. 79–87, 2018, doi: 10.31127/tuje.345351.
ISNAD Mutlu, Hüseyin - Özkul, İskender. “APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR”. Turkish Journal of Engineering 2/2 (May 2018), 79-87. https://doi.org/10.31127/tuje.345351.
JAMA Mutlu H, Özkul İ. APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR. TUJE. 2018;2:79–87.
MLA Mutlu, Hüseyin and İskender Özkul. “APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR”. Turkish Journal of Engineering, vol. 2, no. 2, 2018, pp. 79-87, doi:10.31127/tuje.345351.
Vancouver Mutlu H, Özkul İ. APPROACHES TO THE DESIGN OF A PLANAR PARALLEL MANIPULATOR. TUJE. 2018;2(2):79-87.
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