Kinematic Analysis and MATLAB Applications of 2-3RRR Mechanism Chain

Authors

  • Bahar Kalkan Department of Mathematics, Faculty of Science, Van Yuzuncu Yil University, Van, 65080
  • Åženay Baydaş Department of Mathematics, Faculty of Science, Van Yuzuncu Yil University, Van, 65080
  • Bulent Karakaş Department of Business Administration, Faculty of Economics and Administrative Science, Van Yuzuncu Yil University, Van, 65080

DOI:

https://doi.org/10.26713/jims.v12i2.1099

Keywords:

Denavit-Hartenberg representation, mechanism chain, Stewart platform

Abstract

The Stewart platform is a mechanism design based on movement of two planes relative to each other by the motion of links. These type of mechanism can be structurally designed in many different ways. In this paper, the joints of connection points of fixed platform to moving platform is determined as RRR with three legs. A software has been developed in the MATLAB environment, which makes calculations using this Stewart platfom mechanism's transformation matrix by applying Denavit Hartenberg convention.

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References

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Published

2020-06-30
CITATION

How to Cite

Kalkan, B., Baydaş, Åženay, & Karakaş, B. (2020). Kinematic Analysis and MATLAB Applications of 2-3RRR Mechanism Chain. Journal of Informatics and Mathematical Sciences, 12(2), 107–121. https://doi.org/10.26713/jims.v12i2.1099

Issue

Vol. 12 No. 2 (2020)

Section

Research Articles

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