Kinematic analysis of three dof-level two asymmetric plane parallel robot mechanisms with screw theory

Screw theory is an important mathematical method in robot kinematics which has been increasingly used in recent years. In this method, robot kinematics can be expressed quite simply. In this thesis, the kinematic analysis of two asymmetric three degrees of freedom planar parallel robots obtained by changing the leg structure of 3-RPR (R: Rotary Joint, P: Active Prismatic Joint) planar parallel robot was carried out with the screw theory. The Jacobian matrix of both mechanisms was obtained by screw theory and the degrees of freedom were calculated by this method. The results obtained were compared with the equations obtained by the vector method for the same mechanisms and were found to be the same. With this thesis, it is aimed to set an example for researchers interested in robot kinematics.