Workspace Generation for a 2 - DOF Parallel Mechanism Using Neural Networks

Emilia Campean; Tiberiu Pavel Itul; Ionela Tanase; Adrian Pisla

doi:10.4028/www.scientific.net/AMM.162.121

Paper Titles

Theoretical Study on Stem Implants Behaviour
p.92

Fatigue Analysis of Low Level Links of a Parallel Topology Robot Guiding Device Mechanism
p.98

Design of a Driving Kinematical Joint Actuated with Intelligent Materials Used in Structure of Industrial Robots
p.106

A Formulation for Analytical Design of Telescopic Manipulators with Prescribed Workspace
p.113

Workspace Generation for a 2 - DOF Parallel Mechanism Using Neural Networks
p.121

CAD Based Geometric Procedures for Workspace and Singularity Determination of the 3-RPR Parallel Manipulator
p.131

Constraint and Singularity Analysis of the Exechon
p.141

Review and Recent Results on Stewart Gough Platforms with Self-Motions
p.151

Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators
p.161

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 162Workspace Generation for a 2 - DOF Parallel...

Workspace Generation for a 2 - DOF Parallel Mechanism Using Neural Networks

Abstract:

The main purpose of the paper is to develop a neural network application destined to the workspace generation of a parallel mechanism, as an performant alternative to the workspace representation based on inverse kinematic model. The paper describes both algorithms. The initial testing was made for a parallel mechanism with two degrees of freedom that could be applied for the orientation of different systems like a TV satellite dish antennas, sun trackers, telescopes, cameras, radars etc.

You might also be interested in these eBooks

Mechanisms, Mechanical Transmissions and Robotics

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 162)

Pages:

121-130

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.162.121

Citation:

Cite this paper

Online since:

March 2012

Authors:

Emilia Campean, Tiberiu Pavel Itul, Ionela Tanase, Adrian Pisla

Keywords:

Kinematics, Neural Network (NN), Parallel Mechanism, Workspace

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

References

[1] Simon Haykin, Neural networks and learning machines, Volume 10, Prentice Hall, (2009).

Google Scholar

[2] M. C. V. Parenti-Castelli, A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist, The International Journal of Robotics Research, University of Bologna, (2004) 661-667.

DOI: 10.1177/0278364904044077

Google Scholar

[3] T. Itul, D. Pisla, Kinematic-Dimensional Analysis of Parallel Robot used for Orientation, Solid State Phenomena, Vol. Robotics and Automation Systems, 166-167, (2010), pp.229-234.

DOI: 10.4028/www.scientific.net/ssp.166-167.229

Google Scholar

[4] T. Itul, D. Pisla, A. Stoica, Kinematics and Design of a Simple 2-DOF Parallel Mechanism used for orientation, New Trends in Mechanism Science. Analysis and Design, (2010), pp.39-46.

DOI: 10.1007/978-90-481-9689-0_5

Google Scholar

[5] A Hüseyin , A Elmas, O Ibrahim, Neural Network algorithm for workspace analysis of a parallel mechanism, Aircraft Engineering and Aerospace Technology, Vol. 79, (2007) pp.35-44.

DOI: 10.1108/00022660710720476

Google Scholar

[6] M. Ceccarelli, Fundamental of Mechanics of Robotic Manipulation, Kluwer Academic Publishers, (2004).

Google Scholar

[7] Russell S., Norvig, P., Artificial Intelligence: A Modern Approach. Prentice Hall, (2002).

Google Scholar

[8] Mark Hudson Beale, Martin T. Hagan, Howard B. Demuth, Neural Network Toolbox™ User's Guide.

Google Scholar

[9] Berry, M.J.A., Linoff, G., Data Mining Techniques, NY: John Wiley & Sons, (1997).

Google Scholar

[10] E. Ciupan, A Model for the Management of a Supply Activity, Based on Statistical Data, Quality and Innovation in Engineering and Management, Cluj Napoca, (2011) 249-253.

Google Scholar

[11] Bill Horne, Mohammad Jamshidi, Nader Vadiee, Neural Networks in Robotics: A Survey. Journal of Intelligent and Robotic Systems, (1990).

DOI: 10.1007/bf00368972

Google Scholar