Sahiner, BKazaz, MUgurlu, HH2025-04-102025-04-102146-1147http://hdl.handle.net/20.500.14701/37140This paper presents the curvature theory of non-null cylindrical surfaces in Minkowski 3-space. The definition of the line of striction and generator trihedron for cylindrical surfaces in Minkowski 3-space are given. The derivation formulae and Darboux instantaneous rotation vectors of generator trihedrons which play important role in robot kinematics are found. Moreover, curvature theory of a Lorentzian circular cylinder is given as an example.EnglishArticle