This paper presents analytical solutions for the forward displacement kinematics of the “31-12” fully parallel manipulator design. In this design, three points in the base platform are linked to one single point in the top platform, while two of the remaining top platform points are linked to a single point in the base. Neither the base nor the top platforms of the manipulator have to be planar...

This paper presents a two degree-of-freedom (DOF) planar parallel manipulator with two linear actuators, whose degree of freedom is dependent on a passive constraining leg connecting the base and the platform. The kinematics of the presented manipulator is first studied: the inverse and forward kinematics problems are solved in the closed form, the practical workspace is described symbolically,...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

This paper presents an evolutionary approach to the Inverse Kinematics problem. The Inverse Kinematics problem concerns finding the placement of a manipulator that satisfies certain conditions. In this paper apart from reaching the target point the manipulator is required to avoid a number of obstacles. The problem which we tackle is dynamic: the obstacles and the target point may be moving whi...

This paper presents application of G.A. to find out the topology of different A.N.N. techniques for the control of Robot. The neural network is trained for the inverse kinematics by providing it with a random data set of the manipulator spread over its workspace. Neural Networks have been used due to the inherent limitations of the conventional techniques to solve the inverse kinematics problem...

In this paper, a new Behavioral-based Particle Swarm Optimization algorithm is proposed in order to solve the inverse kinematics problem for a manipulator operating in an environment cluttered with obstacles. The introduced variant of the Particle Swarm Optimization relies on the idea of dividing the population of the particles in subgroups, each of which with a specific task, achieving in this...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant truss-based manipulators (TBMs): The Virtual Serial Manipulator Approach. The approach is to model complex parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematicallyredundant serial manipulators can ...

This article investigates the forward kinematics problem formulation and resolution specifically applied to spatial parallel manipulators which allow only for translationnal displacements of the end-effector. The translation manipulator is usually constituted of three to six kinematics chains with three actuators usually located on the base. These mechanisms are designed to prevent any rotation...

SUMMARY A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method. 1. INTRODUCTION The design of a redundant manipulat...