**Table 12.**

*The optimization results for 6x6 GSP.*

*A Dexterous Workspace Optimization for Ten Different Types of General Stewart-Gough… DOI: http://dx.doi.org/10.5772/intechopen.108185*

**Figure 7.** *The GDI values of the ten different GSPs for each actuator stroke length.*

actuator stroke lengths in **Tables 14**. The GDI values of 5x5 GSP mechanisms for each actuator stroke length vary between 0,645 and 0,678 which is the worst kinematic performance among the others. In addition, these manipulators have also smaller workspaces that might not be preferred by the designer for constructing their GSPs.

#### **7. Conclusions**

Ten different types of 6-DOF GSPs with five different actuator stroke lengths are optimized in this chapter. Dexterities and workspaces of the manipulators are considered as optimization objectives in order to obtain the radius of the circumferential circles, and separation angles between adjacent vertices of base and moving platforms. The PSO is used as the optimization algorithm. The optimization results of ten different GSPs with five different linear actuator stroke lengths are illustrated as tables that include the radius of the circumferential circle, separation angles between adjacent vertices, workspace volumes, GDI values, shapes of the base and moving platforms, retracted and extracted lengths of the linear actuators, and connection points of the legs on the base and moving platforms in order to show the data belonging to the manipulators in a compact form.

The optimizations produced the following important results. The radii of the base platforms are obtained larger than the radii of the moving platforms for GSPs with each actuator stroke length. The locations of the connection points on base platform form a rough triangle. The rough equilateral triangle structure for the base and moving platforms can produce the best kinematic performance like 6x5 and 6x6 GSP mechanisms. These manipulators have the best dexterous maneuverability and kinematic performance, and also the largest workspaces for each actuator stroke length. The actuator stroke lengths of 100mm and 150mm produce the best GDI values for ten different GSPs. The 5x5 GSP mechanisms for each actuator stroke length have the worst kinematic performance and smaller workspaces.

In practice, the designers and researchers can use the optimization results given in **Tables 6**–**14** to construct the optimal GSP mechanisms for the given specific tasks.


*Recent Advances in Robot Manipulators*

**Table 13.** *GSPswithstroke*

 *lengths of 50, 100, and 150.*


*A Dexterous Workspace Optimization for Ten Different Types of General Stewart-Gough… DOI: http://dx.doi.org/10.5772/intechopen.108185*

> **Table 14.** *GSPswithstroke*

 *length of 200, 250.* *Recent Advances in Robot Manipulators*
