Modeling in Two Configurations of a 5R 2-DoF Planar Parallel Mechanism and Solution to the Inverse Kinematic Modeling Using Artificial Neural Network
作者： Eusebio Jimenez Lopez , Gabriel Luna-Sandoval , Daniel Servin De La Mora-Pulido , Raul Servin De La Mora-Pulido , Francisco Javier Ochoa-Estrella
DOI: 10.1109/ACCESS.2021.3073402
关键词:
摘要: This article introduces a new kinematic modeling method used to analyze coupled rigid multibody movements. The was applied the study of 5R planar parallel mechanism’s kinematics and consists analyzing two fixed configurations mechanism systematize rotational relationships between structures. Mathematical models were developed using complex numbers. inverse problem modeled as system eight nonlinear equations unknowns, which solved with Newton-Raphson’s method. Subsequently, model, numerical database related configurations, including singular positions, generated train multilayer neural network. Levenberg-Marquardt algorithm for network training. Finally, an interpolated linear path understand efficiency trained
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