Forward Kinematics Analysis of 6-PUS Parallel Mechanism based on Optimized BP-NR Algorithm
This paper analyzes in detail the forward kinematics of 6-PUS parallel mechanism using MATLAB , SolidWorks and Adams software. The proposed algorithm combines the BP Neural Network with the Newton-Raphson method to form BP-NR algorithm. The BP neural network computes an approximation of the kinematic forward solution of the mechanism, which is used as the initial value of Newton-Raphson method for iterative computation to obtain the exact solution. Simulation verification shows that the BP-NR algorithm can simultaneously achieve high accuracy and real-time performance.
Authors
- Wenjing Niu
- Wenyuan Liang (ORCID: https://orcid.org/0000-0002-7923-0751)
- Xin Guo (ORCID: https://orcid.org/0000-0001-9331-1817)
- Peng Fang (ORCID: https://orcid.org/0000-0002-9070-9069)
Institutions
- Hebei University of Technology (CN)
- Chinese Academy of Sciences (CN)
- National Research Center for Rehabilitation Technical Aids (CN)
- Shenzhen Institutes of Advanced Technology (CN)
Publication Details
- Published
- 2024-08-04
- DOI
- https://doi.org/10.1109/icma61710.2024.10632958
- Citations
- 2
- Primary Topic
- Robotic Mechanisms and Dynamics
- Type
- article
- Field-Weighted Citation Impact
- 0.66
Funders
- National Natural Science Foundation of China
- Research and Development