A generalised approach to point-to-point motion of multi-DOF parallel manipulators illustrated with TMPM
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The work presented in this paper describes a novel approach to the computation of the point-to-point motion of multi-degree-of-freedom parallel mechanisms. The common technique for solving for the inverse kinematics of parallel mechanisms is through intense computations and complex vector transformations. One obvious drawback of this method is the fact that the solution method varies with the type of mechanism being used. In this paper, a generalised alternative approach is presented, which avoids the problems encountered in the available techniques, for solving for the inverse kinematics of parallel manipulator systems. The proposed approach uses a fuzzy system as a general black box model to solve for the joint angles of the desired pose when the position and orientation of the parallel manipulator end-effector are given in advance. Since optimal membership functions are difficult to achieve using the experience of system designers, genetic algorithms are used instead and applied to the fuzzy rules set to optimise the search procedure. To verify the proposed scheme, a three degree-of-freedom parallel manipulator is analysed and the simulation results are very encouraging.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
author list (cited authors)
Her, M. G., Chen, C. Y., Karkoub, M., & Hung, Y. C.
complete list of authors
Her, MG||Chen, CY||Karkoub, M||Hung, YC