Forward Kinematics Solution Analysis of 3-CRS/SP Parallel Mechanism based on BP Neural Network Algorithm

Zhao Yaohong; Xia Hao; Wang Ziqian; Li Ruiqin; Yao Yinyin; Wang Yongjun

doi:10.16578/j.issn.1004.2539.2018.11.010

您当前的位置：

首页 >

文章列表页 >

Forward Kinematics Solution Analysis of 3-CRS/SP Parallel Mechanism based on BP Neural Network Algorithm

更新时间：2022-10-20

- Forward Kinematics Solution Analysis of 3-CRS/SP Parallel Mechanism based on BP Neural Network Algorithm
- Vol. 42, Issue 11, Pages: 58-61(2018)
- 作者机构：
  
  1. 中北大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.11.010
  CLC：
扫描看全文
[1]赵耀虹,夏昊,王自谦,李瑞琴,夭银银,王勇军.基于BP神经网络算法的3-CRS/SP并联机构正解分析[J].机械传动,2018,42(11):58-61.

Zhao Yaohong, Xia Hao, Wang Ziqian, et al. Forward Kinematics Solution Analysis of 3-CRS/SP Parallel Mechanism based on BP Neural Network Algorithm. [J]. 42(11):58-61(2018)
[1]赵耀虹,夏昊,王自谦,李瑞琴,夭银银,王勇军.基于BP神经网络算法的3-CRS/SP并联机构正解分析[J].机械传动,2018,42(11):58-61. DOI： 10.16578/j.issn.1004.2539.2018.11.010.

Zhao Yaohong, Xia Hao, Wang Ziqian, et al. Forward Kinematics Solution Analysis of 3-CRS/SP Parallel Mechanism based on BP Neural Network Algorithm. [J]. 42(11):58-61(2018) DOI： 10.16578/j.issn.1004.2539.2018.11.010.

摘要

提出一种通过BP神经网络求解并联机构位置正解的方法。根据BP神经网络的算法,采用了3层前向神经网络。对3-CRS/SP并联机构建立旋转矩阵求得该机构的位置逆解。将位置逆解所得数据作为神经网络的输入,将求解位置逆解的动平台位姿包含4个参数值作为输出,进行神经网络的训练。仿真和实验结果表明,该方法对于求解并联机构位置正解快速有效;相对于解析法,该方法直观简洁,能够为并联机构的控制过程提供数值参考。

Abstract

A method for solving the forward kinematics analysis of parallel mechanism based on BP neural network is presented. According to the algorithm of BP neural network,three layers forward neural network is adopted. The inverse kinematics solution of the mechanism can be obtained by establishing the rotation matrix of3-CRS/SP parallel mechanism. It can be used as input of neural network and the dynamic platform position including four parameters can be regard as the output,then neural network can be trained. The simulation and experimental results show that the method is fast and effective for solving the parallel mechanism forward kinematics,and it is intuitive and simple compared with the analytical method. It can provide numerical reference for the control process of parallel mechanism.

关键词

BP神经网络并联机构位置正解

Keywords

BP neural networkParallel mechanismForward kinematics solution

references

Views

204

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design of a Flapping Aircraft with Variable Angles of Attack Based on a RC/RRU Parallel Mechanism

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair

Performance Analysis and Dimensional Optimization of a 2R1T Parallel Mechanism with Remote Center of Motion

Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism

Related Author

No data

Related Institution

School of Mechanical Engineering, Chongqing University of Technology

School of Advanced Manufacturing, Nanchang University

East China Jiaotong University

School of Mechanical Engineering, Tiangong University

Tianjin Key Laboratory of Modern Electromechanical Equipment Technology

⁰