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Kinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremite

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dc.contributor.authorSelvi, Özgün
dc.contributor.authorAl-dulaimi, Hasan
dc.date.accessioned2024-03-28T12:20:12Z
dc.date.available2024-03-28T12:20:12Z
dc.date.issued2015
dc.departmentÇankaya Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümüen_US
dc.description.abstractThis study deals with one of the applications of parallel manipulator as a rehabilitation robot. This device is an over –constrained parallel manipulator 5 degree of freedom with 3 legs. This manipulator consists of a moving platform which is connected to a fixed base via three legs. Each leg is made of RRR(RR) (revolute) joints where the first three joint in all legs are parallel and the recent two joint are intersecting .Inverse kinematics of this device is solved by dividing manipulator into two sub-manipulators with the help of three imaginary joints placed at the intersection of platform joints with a direction parallel to base joints.en_US
dc.identifier.citationSelvi, Özgün; Al-dulaimi, Hasan. (2015). "Kinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremite", Journal of Naval Sciences and Engineering, Vol.11, No.2, pp.52-69.en_US
dc.identifier.endpage69en_US
dc.identifier.issn1304-2025
dc.identifier.issue2en_US
dc.identifier.startpage52en_US
dc.identifier.urihttp://hdl.handle.net/20.500.12416/7805
dc.identifier.volume11en_US
dc.language.isoenen_US
dc.relation.ispartofJournal of Naval Sciences and Engineeringen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectOverconstrained Manipulatorsen_US
dc.subjectRehabilitationen_US
dc.subjectInverse Kinematic Analysisen_US
dc.titleKinematic Analysis Of A 5 Dof Overconstrained Manipulator For Rehabilitation Of Upper Extremitetr_TR
dc.titleKinematic Analysis of a 5 Dof Overconstrained Manipulator for Rehabilitation of Upper Extremiteen_US
dc.typeArticleen_US
dspace.entity.typePublication

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