Sahiner, BKazaz, MUgurlu, HH2024-07-182024-07-182146-1147http://akademikarsiv.cbu.edu.tr:4000/handle/123456789/5530This 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