The Design of a Spherical Parallel Manipulator
12th International Conference on Automation, Robotics and Applications, ICARA 2026, İstanbul, Türkiye, 5 - 07 Şubat 2026, ss.22-29, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/icara69401.2026.11480278
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Sayfa Sayıları: ss.22-29
- Anahtar Kelimeler: forward and inverse kinematics, optimization, simulation, singularity, spherical parallel manipulator, workspace
- Kocaeli Üniversitesi Adresli: Evet
Özet
Parallel robots play a significant role in specialized applications. In this study, the forward and inverse kinematic calculations required for the fabrication of spherical parallel robots were derived. In addition, workspace, singularity, simulation and optimization techniques were examined in detail. This study aims to provide a foundation for the future development of a soft gripper supported by a spherical parallel robot.