1403/03/31
جمال قاسمی

جمال قاسمی

مرتبه علمی: دانشیار
ارکید:
تحصیلات: دکترای تخصصی
اسکاپوس:
دانشکده: دانشکده مهندسی و فناوری
نشانی:
تلفن: 01135302902

مشخصات پژوهش

عنوان
KINEMATIC SYNTHESIS OF PARALLEL MANIPULATOR VIA NEURAL NETWORK APPROACH
نوع پژوهش
JournalPaper
کلیدواژه‌ها
Parallel Robot, Kinematics, Artificial Neural Network.
سال
2017
مجله international journal of engineering
شناسه DOI
پژوهشگران Jamal Ghasemi ، Reza Moradinezhad ، - -

چکیده

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 specific trajectory, and used as inputs for the applied ANNs. The results of both applied networks (Multi-Layer Perceptron and Redial Basis Function) satisfied the required performance in solving complex inverse kinematics with proper accuracy and speed.