Dimensional optimization of 6-DOF 3-CCC type asymmetric parallel manipulator

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dc.contributor.authorToz, Metin
dc.contributor.authorKüçük, Serdar
dc.date.accessioned2020-05-01T09:11:26Z
dc.date.available2020-05-01T09:11:26Z
dc.date.issued2014
dc.departmentDÜ, Teknoloji Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.descriptionWOS: 000335932000005en_US
dc.description.abstractIn this paper, dimensional optimization of a six-degrees-of-freedom (DOF) 3-CCC (C: cylindrical joint) type asymmetric parallel manipulator (APM) is performed by using particle swarm optimization (PSO). The 3-CCC APM constructed by defining three angle and three distance constraints between base and moving platforms is a member of 3D3A generalized Stewart-Gough platform (GSP) type parallel manipulators. The dimensional optimization purposes to find the optimum limb lengths, lengths of line segments on the base and moving platforms, attachment points of the line segments on the base platform, the orientation angles of the moving platform, and position of the end-effector in the reachable workspace in order to maximize the translational and orientational dexterous workspaces of the 3-CCC APM, separately. The dexterous workspaces are obtained by applying condition number and minimum singular values of the Jacobian matrix. The optimization results are compared with the traditional GSP manipulator for illustrating the kinematic performance of 3-CCC APM. Optimizations show that 3-CCC APM have superior dexterous workspace characteristics than the traditional GSP manipulator.en_US
dc.identifier.doi10.1080/01691864.2014.884935en_US
dc.identifier.endpage637en_US
dc.identifier.issn0169-1864
dc.identifier.issn1568-5535
dc.identifier.issue9en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage625en_US
dc.identifier.urihttps://doi.org/10.1080/01691864.2014.884935
dc.identifier.urihttps://hdl.handle.net/20.500.12684/5586
dc.identifier.volume28en_US
dc.identifier.wosWOS:000335932000005en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherTaylor & Francis Ltden_US
dc.relation.ispartofAdvanced Roboticsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectPSOen_US
dc.subject3-CCC asymmetric parallel manipulatoren_US
dc.subjectdexterous workspaceen_US
dc.subjectGSPen_US
dc.titleDimensional optimization of 6-DOF 3-CCC type asymmetric parallel manipulatoren_US
dc.typeArticleen_US

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