In this study, a method of artificial neural network applied for the solution of inverse kinematics of 2-link serial chain manipulator. The method is multilayer perceptrons neural network has applied. This unsupervised method learns the functional relationship between input (Cartesian) space and output (joint) space based on a localized adaptation of the mapping, by using the manipulator itself...

This paper presents a novel miniaturized and modular dual-axis Electromagnetic Actuator (EMA). It mainly consists of two electromagnetic coils in an orthogonal orientation with permanent magnet fixed on free moving frame that rotates around axes/joints. By actuating either the coils, corresponding axis. Simulations experimental analyses are conducted order to characterize performance our EMA. T...

The evolution of requirements for mechanical products toward higher performances, coupled with never ending demands for shorter product design cycle, has intensified the need for exploring new architectures and better design methodologies in order to search the optimal solutions in a larger design space including those with greater complexity which are usually not addressed by available design ...

A hybrid type manipulation system is a combination of closed-chain and open-chain mechanisms or it is a sequence of parallel mechanisms. Parallel manipulators have high stiffness and large load capacity, but suffer from a very limited workspace volume. The hybrid manipulators overcome the limited workspace of the parallel manipulators and at the same time they have high stiffness. The determina...

this paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. the degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

In this paper, the environmental uncertainties are taken into account when designing a robotic manipulator to balance shaking force, moment, and torque. The proposed robust balancing design approach does not consider probability distributions of is addressed without dependence on specific trajectories. This expressed as nonlinear constrained multiobjective optimization problem in which nominal ...

In this article. rhe approach developed by the authors for systematicallv studving rhe acceleration capabiliry and properties of rhe end effector of a planar manipulator is extended to the general. serial, spatial manipulator possessing three degrees of freedom. The acceleration of the end effector at a given configuration of the manipulator is a linearfunction of the actuator rorques and a (no...

One of the weak aspects of the parallel robots is ratio between the workspace and the dimension of the mechanical structure, if compared with the serial one. Hence the shape of the workspace of a parallel manipulator is one of the most important aspects to reflect its working capacity. This paper introduces two innovative methods to analyze the workspace of some family of parallel robots, with ...

We present fast and robust algorithms for the inverse kinematics of serial manipulators consisting of six or fewer joints. When stated mathematically, the problem of inverse kinematics reduces to simultaneously solving a system of algebraic equations. In this paper, we use a series of algebraic and numeric transformations to reduce the problem to computing the eigenstructure of a matrix pencil....