Optimization of a Spatial 2 DOF Parallel Mechanism Used for Orientation

Boantă, Cătălin; Besoiu, Sorin; Brişan, Cornel

doi:10.1007/978-3-319-79111-1_42

Cited by 2 publications

(1 citation statement)

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“…Next, the generation of the workspace data was based on the kinematic analysis. There are several methods proposed in the scientific literature for workspace evaluation, with the previous work of the authors on this subject being presented in [ 24 , 25 ]. Firstly, a 3D space (a parallelepiped) is discretized in uniformly distributed points

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Section: Proposed Methodsmentioning

confidence: 99%

Estimation of the Kinematics and Workspace of a Robot Using Artificial Neural Networks

Boantă

Brişan

2022

Sensors

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At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements of the robot. In order to respect these criteria, a proper design of the robots has to be achieved, which requires years of practice and a proper knowledge and experience of a human designer. In order to assist the human designer in the process of designing the robots, several methods (including optimization methods) have been developed. The scientific problem addressed in this paper is the development of an artificial intelligence method to estimate the size of the workspace and the kinematics of a robot using a feedforward neural network. The method is applied on a parallel robot composed of a base platform, a mobile platform and six kinematic rotational-universal-spherical open loops. The numerical results show that, with proper training and topology, a feedforward neural network is able to estimate properly values of the volume of the workspace and the values of the generalized coordinates based on the pose of the end effector.

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Section: Proposed Methodsmentioning

confidence: 99%