Parallel manipulator software tool for design, analysis, and simulation of 195 GSP mechanisms

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dc.contributor.authorToz, Metin
dc.contributor.authorKüçük, Serdar
dc.date.accessioned2020-04-30T23:20:31Z
dc.date.available2020-04-30T23:20:31Z
dc.date.issued2015
dc.departmentDÜ, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.descriptionWOS: 000365597100013en_US
dc.description.abstractIn this paper, a new parallel manipulator software tool based on the MATLAB Graphical User Interface (GUI) is developed for design, analysis and simulation of 195 6-DOF General Stewart Platform mechanisms (GSP). The new proposed tool called as GSPDAP uses four basic leg types to design GSP mechanisms. Point or line coordinates required for leg connections are sufficient for GSPDAP to design a GSP mechanism. Once the design of a GSP mechanism is completed, GSPDAP provides the user with several analyses such as inverse kinematics, Jacobian matrix, workspace, and dexterity. It is not necessary for the user to have preliminary knowledge to obtain the inverse kinematics or Jacobian matrix etc. Additionally, GSPDAP generates symbolic equations for the inverse kinematics and the inverse Jacobian matrices of 195 GSP mechanisms. Including 195 parallel manipulator in its library, GSPDAP provides the educational users to profoundly improve the understanding of parallel manipulator fundamentals through interactive simulation. Parallel manipulators are more complex structures than their serial counterparts. Therefore, designing even one parallel manipulator is very cumbersome and expensive issue. In this condition GSPDAP may provide educators and students to design their manipulators in a computer environment with minimum cost. (c) 2015 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:931-946, 2015; View this article online at ; DOIen_US
dc.identifier.doi10.1002/cae.21665en_US
dc.identifier.endpage946en_US
dc.identifier.issn1061-3773
dc.identifier.issn1099-0542
dc.identifier.issue6en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage931en_US
dc.identifier.urihttps://doi.org/10.1002/cae.21665
dc.identifier.urihttps://hdl.handle.net/20.500.12684/4023
dc.identifier.volume23en_US
dc.identifier.wosWOS:000365597100013en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherWileyen_US
dc.relation.ispartofComputer Applications In Engineering Educationen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectdesignen_US
dc.subjectanalysisen_US
dc.subjectsimulationen_US
dc.subjectparallel manipulatorsen_US
dc.subjectgeneral Stewart platform mechanismsen_US
dc.titleParallel manipulator software tool for design, analysis, and simulation of 195 GSP mechanismsen_US
dc.typeArticleen_US

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