Abstract
In this chapter, a dexterous workspace optimization is performed for ten different types of 6-Degrees-Of-Freedom (DOF) General Stewart-Gough Platforms (GSPs). The optimization aims to find the optimum radius of the circumferential circle and separation angles between adjacent vertices of base and moving platforms in order to maximize both the dexterities and workspaces of the manipulators subject to geometric constraints. Particle Swarm Optimization (PSO), increasingly being applied to engineering applications, is used as the optimization algorithm. Finally, the optimization results for ten different types of 6-DOF GSPs are compared to each other in terms of kinematic performances.
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