Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
ICYCS '08 Proceedings of the 2008 The 9th International Conference for Young Computer Scientists
Type Synthesis of Parallel Mechanisms
Type Synthesis of Parallel Mechanisms
Robotics and Computer-Integrated Manufacturing
IWCFTA '09 Proceedings of the 2009 International Workshop on Chaos-Fractals Theories and Applications
A Fuzzy Logic Controller tuned with PSO for 2 DOF robot trajectory control
Expert Systems with Applications: An International Journal
Generalized Stewart-Gough platforms and their direct kinematics
IEEE Transactions on Robotics
Design and analysis of kinematically redundant parallel manipulators with configurable platforms
IEEE Transactions on Robotics
Kinematic design of a 6-DOF parallel manipulator with decoupled translation and rotation
IEEE Transactions on Robotics
A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators
IEEE Transactions on Robotics
A Cooperative approach to particle swarm optimization
IEEE Transactions on Evolutionary Computation
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In 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 (DOF) 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 (AMEDLAL) 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.