Dexterous workspace optimization of an asymmetric six-degree of freedom Stewart-Gough platform type manipulator

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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.issued2013
dc.departmentDÜ, Teknoloji Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.descriptionWOS: 000328178200021en_US
dc.description.abstractIn this paper, an asymmetric Generalized Stewart-Gough Platform (GSP) type parallel manipulator is designed by considering the type synthesis approach. The asymmetric six-Degree Of Freedom (DOE) manipulator optimized in this paper is selected among the GSPs classified under the name of 6D. The dexterous workspace optimization of Asymmetric parallel Manipulator with tEn Different Linear Actuator Lengths (AMEDIAL) subject to kinematics and geometric constraints is performed by using the Particle Swarm Optimization (PSO). The condition number and Minimum Singular Value (MSV) of homogenized Jacobian matrix are employed to obtain the dexterous workspace of AMEDLAL. Finally, the six-DOF AMEDLAL is also compared with the optimized Traditional Stewart-Gough Platform Manipulator (TSPM) considering the volume of the dexterous workspace in order to demonstrate its kinematic performance. Comparisons show that the manipulator proposed in this study illustrates better kinematic performance than TSPM. (C) 2013 Elsevier B.V. All rights reserved.en_US
dc.identifier.doi10.1016/j.robot.2013.07.004en_US
dc.identifier.endpage1528en_US
dc.identifier.issn0921-8890
dc.identifier.issn1872-793X
dc.identifier.issue12en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1516en_US
dc.identifier.urihttps://doi.org/10.1016/j.robot.2013.07.004
dc.identifier.urihttps://hdl.handle.net/20.500.12684/5568
dc.identifier.volume61en_US
dc.identifier.wosWOS:000328178200021en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherElsevieren_US
dc.relation.ispartofRobotics And Autonomous Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectType synthesisen_US
dc.subjectSingular valuesen_US
dc.subjectDexterous workspaceen_US
dc.subjectPSO and GSPen_US
dc.titleDexterous workspace optimization of an asymmetric six-degree of freedom Stewart-Gough platform type manipulatoren_US
dc.typeArticleen_US

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