Modeling in Two Configurations of a 5R 2-DoF Planar Parallel Mechanism and Solution to the Inverse Kinematic Modeling Using Artificial Neural Network

IEEE Access

Mario Acosta Flores¹  Eusebio Jimenez Lopez²  Daniel Servin De La Mora-Pulido³  Gabriel Luna-Sandoval⁴  Raul Servin De La Mora-Pulido⁵  Francisco Javier Ochoa-Estrella⁶ 

[1] CETA, Instituto Tecnol&x00F3;CIAAM, Universidad Tecnol&x00F3;gica del Sur de Sonora-ULSA Noroeste-IIMM, Ciudad Obreg&x00F3;gico Superior de Cajeme, Ciudad Obreg&x00F3;n, M&x00E9;xico;

关键词: Parallel robots;    artificial neural networks;    complex numbers;    kinematics;    Newton–Raphson;   

DOI  :  10.1109/ACCESS.2021.3073402

来源: DOAJ

【 摘 要 】

This article introduces a new kinematic modeling method used to analyze coupled rigid multibody movements. The method was applied to the study of a 5R planar parallel mechanism’s kinematics and consists of analyzing two fixed configurations of the mechanism to systematize the rotational relationships between the two structures. Mathematical models were developed using complex numbers. The inverse kinematic problem was modeled as a system of eight nonlinear equations and eight unknowns, which was solved with Newton-Raphson’s method. Subsequently, with the inverse problem model, a numerical database related to the mechanism configurations, including singular positions, was generated to train a multilayer neural network. The Levenberg-Marquardt algorithm was used for network training. Finally, an interpolated linear path was used to understand the efficiency of the trained network.

【 授权许可】

Unknown