In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed to solve this problem. Firstly, we pa...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

In this work, artificial neural network (ANN) was utilized to develop a new model for the prediction of the kinematic viscosity of petroleum fractions. This model was generated as a function of temperature (T), normal boiling point temperature (Tb), and specific gravity (S). In order to develop the new model, different architectures of feed-forward type were examined. Finally, the optimum struc...

‘I’/& paper proposes technique for automaticall~ identifying and modeling the kinematic wwtminta of manipulated objects. The existence of wn.druints is established by examination of the forces and torques normal and tangential to the object’s motion. Constraints are modeled as joints tuith wnfigumtion and history dependent forca. To illustmte these concepts, seveml experimental examples are pre...

NW-tending faults in Central Iran are expected to represent dominant dextral components due to their orientation with respect to the northward motion of the Arabian Plate with respect to Eurasia. However, previously published works, as well as the focal mechanism solution of the area's earthquakes, indicate evidence of sinistral kinematic along the major faults in Central Iran. Here we present ...

a r t i c l e i n f o