Publication:
Two practical methods for the forward kinematics of 3-3 type spatial and 3-RRR planar parallel manipulators

dc.contributor.authorDüzgün, Ercan
dc.contributor.authorKopmaz, Osman
dc.contributor.buuauthorDÜZGÜN, ERCAN
dc.contributor.buuauthorKOPMAZ, OSMAN
dc.contributor.departmentBursa Uludağ Üniversitesi/Mühendislik Fakültesi/Makine Mühendisliği Bölümü
dc.contributor.orcid0000-0002-9429-9300
dc.contributor.orcid0000-0002-6455-9730
dc.contributor.researcheridHJS-9844-2023
dc.contributor.researcheridDAF-9103-2022
dc.date.accessioned2024-09-27T12:29:09Z
dc.date.available2024-09-27T12:29:09Z
dc.date.issued2022-12-01
dc.description.abstractThe forward kinematics in parallel manipulators is a mathematically challenging issue, unlike serial manipulators. Kinematic constraint equations are non-linear transcendental equations that can be reduced to algebraic equations with appropriate transformations. For this reason, sophisticated and time-consuming methods such as the Bezout method, the Groebner bases method, and the like, are used. In this paper, we demonstrate that these equations can be solved by non-complicated mathematical methods for some special types of manipulators such as the 3-3 and 6-3 types of Stewart platforms, and the 3-RRR planar parallel manipulator. Our first method is an analytical approach that exploits the special structure of kinematic constraint equations and yields polynomials of 32nd and 16th order, as mentioned in the previous works. In the second method, an error function is defined. This error function is employed to find the most appropriate initial values for the non-linear equation solver which is used for solving kinematic constraint equations. Determining the initial values in this manner saves computation time and guarantees fast convergence to real solutions.
dc.identifier.doi10.3390/app122412811
dc.identifier.eissn2076-3417
dc.identifier.issue24
dc.identifier.urihttps://doi.org/10.3390/app122412811
dc.identifier.urihttps://www.mdpi.com/2076-3417/12/24/12811
dc.identifier.urihttps://hdl.handle.net/11452/45411
dc.identifier.volume12
dc.identifier.wos000900434800001
dc.indexed.wosWOS.SCI
dc.language.isoen
dc.publisherMDPI
dc.relation.journalApplied Sciences-basel
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectStewart
dc.subjectAlgorithm
dc.subjectStewart platform
dc.subjectPlanar manipulators
dc.subjectForward kinematics
dc.subjectBezout method
dc.subjectPolynomials
dc.subjectScience & technology
dc.subjectPhysical sciences
dc.subjectTechnology
dc.subjectChemistry, multidisciplinary
dc.subjectEngineering, multidisciplinary
dc.subjectMaterials science, multidisciplinary
dc.subjectPhysics, applied
dc.subjectChemistry
dc.subjectEngineering
dc.subjectMaterials science
dc.subjectPhysics
dc.titleTwo practical methods for the forward kinematics of 3-3 type spatial and 3-RRR planar parallel manipulators
dc.typeArticle
dspace.entity.typePublication
relation.isAuthorOfPublication75df63d9-32de-4c76-aceb-ca67087e8e30
relation.isAuthorOfPublicatione61ebe55-a537-4321-a26b-b737d31d012d
relation.isAuthorOfPublication.latestForDiscovery75df63d9-32de-4c76-aceb-ca67087e8e30

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