Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism
To meet the different requirements in the industrial area, a novel reconfigurable parallel mechanism is proposed based on the spatial multiloop overconstrained mechanism. The configurations can be changed by driving the low-DOF (degree-of-freedom) overconstrained mechanism. The mobility of this mech...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/8878058 |
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| _version_ | 1832556881357307904 |
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| author | Guanyu Huang Dan Zhang Qi Zou |
| author_facet | Guanyu Huang Dan Zhang Qi Zou |
| author_sort | Guanyu Huang |
| collection | DOAJ |
| description | To meet the different requirements in the industrial area, a novel reconfigurable parallel mechanism is proposed based on the spatial multiloop overconstrained mechanism. The configurations can be changed by driving the low-DOF (degree-of-freedom) overconstrained mechanism. The mobility of this mechanism is investigated. And the kinematic model and Jacobian matrix are both established. Based on the Jacobian matrix, the workspace, stiffness, and conditional number are all analyzed. To focus on the application in the industrial area, this paper proposes a method to establish the relationship between the performance and the structural parameters by using the modified BP neural network. Based on this method, the structural parameters can be chosen by the requirements of the special task in the industrial area. Finally, some numerical examples are presented to verify the method. |
| format | Article |
| id | doaj-art-45f4062ac24844baadd6c73b34e05e7b |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-45f4062ac24844baadd6c73b34e05e7b2025-02-03T05:44:12ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/88780588878058Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained MechanismGuanyu Huang0Dan Zhang1Qi Zou2Zhejiang Lab, 1818 Wenyi West Road, Hangzhou 311121, ChinaDepartment of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON, M3J 1P3, CanadaDepartment of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON, M3J 1P3, CanadaTo meet the different requirements in the industrial area, a novel reconfigurable parallel mechanism is proposed based on the spatial multiloop overconstrained mechanism. The configurations can be changed by driving the low-DOF (degree-of-freedom) overconstrained mechanism. The mobility of this mechanism is investigated. And the kinematic model and Jacobian matrix are both established. Based on the Jacobian matrix, the workspace, stiffness, and conditional number are all analyzed. To focus on the application in the industrial area, this paper proposes a method to establish the relationship between the performance and the structural parameters by using the modified BP neural network. Based on this method, the structural parameters can be chosen by the requirements of the special task in the industrial area. Finally, some numerical examples are presented to verify the method.http://dx.doi.org/10.1155/2020/8878058 |
| spellingShingle | Guanyu Huang Dan Zhang Qi Zou Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism International Journal of Aerospace Engineering |
| title | Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism |
| title_full | Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism |
| title_fullStr | Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism |
| title_full_unstemmed | Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism |
| title_short | Neural Network and Performance Analysis for a Novel Reconfigurable Parallel Manipulator Based on the Spatial Multiloop Overconstrained Mechanism |
| title_sort | neural network and performance analysis for a novel reconfigurable parallel manipulator based on the spatial multiloop overconstrained mechanism |
| url | http://dx.doi.org/10.1155/2020/8878058 |
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