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Technical Brief

Dexterous Workspace Optimization for a New Parallel Robot Manipulator

[+] Author and Article Information
Serdar Kucuk

Kocaeli University, Technology Faculty, Biomedical Engineering, Umuttepe Campus, 41380, Kocaeli, Turkey
skucuk@kocaeli.edu.tr

1Corresponding author.

ASME doi:10.1115/1.4041334 History: Received January 11, 2018; Revised August 23, 2018

Abstract

In this paper, a New Parallel Robot (NPR) manipulator is introduced. In this new design approach, three kinematic limbs of six-legged General Stewart Platform (GSP) manipulator are disconnected in order to construct a new type of parallel robot mechanism. Active actuators in the disconnected limbs which are mounted between base platform of GSP and ground, performs translations along x & y-axes, and rotation about z-axis. Remaining actuators of GSP which keep their locations between base and moving platforms, perform translation along z-axis, and rotation about x & y-axes. Dexterous workspace optimization of both GSP and NPR manipulators with ten different linear actuator lengths is performed by using Particle Swarm Optimization (PSO). Optimization results obtained from both GSP and NPR manipulators are compared with each other in order to demonstrate kinematic performance of NPR manipulator. According to the comparisons, NPR manipulator provides better regular & irregular-shaped dexterous workspaces, larger regular-shaped workspace volume and wider regular-shaped dexterous orientation limits than GSP manipulator.

Copyright (c) 2018 by ASME
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