2015
DOI: 10.14311/nnw.2015.25.022
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Kinematics Analysis and Numerical Simulation of Hybrid Serial-Parallel Manipulator Based on Neural Network

Abstract: This paper presents solution of kinematics analysis of a specific class of serial-parallel manipulators, known as 2-(6UPS) manipulators, which are composed of several modules consisting of elementary manipulators with the parallel structure of the Stewart platform, by artificial neural network. At first, the kinematics model of the hybrid manipulator is obtained. Then, as the inverse kinematics problem of this kind of manipulators is a very difficult problem to solve because of their highly nonlinear relations… Show more

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Cited by 5 publications
(9 citation statements)
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“…In addition, hybrid modular 2-(6UPS) manipulator is designed and fabricated as an experimental test case for reference point. Moreover, forward kinematics problem is solved for the mentioned case study by WNN model proposed in Rahmani et al 30 and simulation via ADAMS. Comparison of the results obtained from current work, WNN, and ADAMS with the experimental case test shows the efficiency and superiority of our contribution.…”
Section: Introductionmentioning
confidence: 99%
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“…In addition, hybrid modular 2-(6UPS) manipulator is designed and fabricated as an experimental test case for reference point. Moreover, forward kinematics problem is solved for the mentioned case study by WNN model proposed in Rahmani et al 30 and simulation via ADAMS. Comparison of the results obtained from current work, WNN, and ADAMS with the experimental case test shows the efficiency and superiority of our contribution.…”
Section: Introductionmentioning
confidence: 99%
“…Many solutions have concentrated on numerical methods, such as Newton-Raphson 29 and learning networks. 30 However, many researchers have pointed out that the combination of numerical and semi-exact analytical methods can also produce useful results. 31 One of most powerful numerical methods to solve nonlinear problems is the homotopy continuation method (HCM).…”
Section: Introductionmentioning
confidence: 99%
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