Development of derivation of inverse Jacobian matrices for 195 6-DOF GSP mechanisms

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dc.contributor.authorToz, Metin
dc.contributor.authorKüçük, Serdar
dc.date.accessioned2020-05-01T09:11:24Z
dc.date.available2020-05-01T09:11:24Z
dc.date.issued2016
dc.departmentDÜ, Teknoloji Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.descriptionWOS: 000378097800061en_US
dc.description.abstractOne of the key issues in robotics is finding high-performance manipulator structures. To evaluate the performance of a parallel manipulator, researchers mostly use kinematic performance indices (such as condition number, minimum singular value, dexterity, and manipulability), which are based on inverse Jacobian matrices. Driving the inverse Jacobian matrix of even one parallel manipulator is a very cumbersome process. However, in this paper, general equations for the inverse Jacobian matrices of 195 GSP mechanisms are symbolically derived by considering 4 basic leg types having 1 angular and 4 distance constraints. With the help of these general equations, the development of the inverse Jacobian matrix for a GSP mechanism can be achieved by defining only the leg connection points on the base and moving platforms with minimum cost. Having derived the inverse Jacobian matrices, one can directly compute kinematic performance indices to measure and compare the manipulator performance of the 195 GSP mechanism. These analyses may yield new high-performance GSP mechanisms for use in engineering, medical device design, and other applied branches. Two different mechanisms (symmetrical and asymmetrical) are given as examples to describe the methodology for deriving the inverse Jacobian matrices. Finally, 2 numerical examples are given for illustrating the practical applications of the procedure.en_US
dc.identifier.doi10.3906/elk-1501-110en_US
dc.identifier.endpage4153en_US
dc.identifier.issn1300-0632
dc.identifier.issn1303-6203
dc.identifier.issue5en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage4142en_US
dc.identifier.urihttps://doi.org/10.3906/elk-1501-110
dc.identifier.urihttps://hdl.handle.net/20.500.12684/5566
dc.identifier.volume24en_US
dc.identifier.wosWOS:000378097800061en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherTubitak Scientific & Technical Research Council Turkeyen_US
dc.relation.ispartofTurkish Journal Of Electrical Engineering And Computer Sciencesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectInverse Jacobian matrixen_US
dc.subjectparallel manipulatorsen_US
dc.subjectangular and distance constraintsen_US
dc.subject6-DOFen_US
dc.titleDevelopment of derivation of inverse Jacobian matrices for 195 6-DOF GSP mechanismsen_US
dc.typeArticleen_US

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