Modelling and simulation of 3DOF parallel manipulator using artificial neural network

Document Type : Original Article

Authors

1 T.A at Mechatronics Dept. Faculty of Engineering, MUST, Giza, Egypt.

2 Assistant Prof. at Mechatronics Dept., Faculty of Engineering, MSA, Giza, Egypt.

3 Assoc. Prof. at Mechatronics Dept., Faculty of Engineering, AASMT, Cairo, Egypt.

4 Professor at Mechatronics Dept., Faculty of Engineering, ASU, Cairo, Egypt.

10.1088/1757-899X/610/1/012080

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.
International Conference on Aerospace Sciences and Aviation Technology
Volume 18, Issue 18
18th International Conference on Aerospace Sciences & Aviation Technology 9–11 April 2019
April 2019
Pages 1-10

Files

Share

How to cite

Statistics