Modelling and simulation of 3DOF parallel manipulator using artificial neural network | ||
| International Conference on Aerospace Sciences and Aviation Technology | ||
| Article 82, Volume 18, Issue 18, April 2019, Pages 1-10 PDF (867.39 K) | ||
| Document Type: Original Article | ||
| DOI: 10.1088/1757-899X/610/1/012080 | ||
| Authors | ||
| Abdelrahman Youssef1; Amgad M Bayoumy2; Mostafa Rostom3; Farid A Tolbah4 | ||
| 1T.A at Mechatronics Dept. Faculty of Engineering, MUST, Giza, Egypt. | ||
| 2Assistant Prof. at Mechatronics Dept., Faculty of Engineering, MSA, Giza, Egypt. | ||
| 3Assoc. Prof. at Mechatronics Dept., Faculty of Engineering, AASMT, Cairo, Egypt. | ||
| 4Professor at Mechatronics Dept., Faculty of Engineering, ASU, Cairo, Egypt. | ||
| Abstract | ||
| Parallel Robot (PR) has shown its ability to be precise in its movement. Actuators move simultaneously to achieve the required target, on top of that its payload is much greater than what a serial robot can withstand. To determine workspace of the robot with known angles Forward kinematics has to be introduced which, bring a lot of difficulty as it requires the solution of multiple coupled nonlinear algebraic equations. Those equations bring multiple valid solutions. Those solutions could lead to different locations. As it is not going to make the pick and place for PR will be easier. This paper will discuss a numerical method that calculates the Forward Kinematics for PR. This method uses Artificial Neural Network which relay on training with a certain number of iterations. The set of data to be used in the training can be obtained from PR simulation. This method will serve to know workspace around PR as it will help it to pick the target object. | ||
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