The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks

Jian Jun Li; Chun Jie Yang; Wei Hong Sun

doi:10.4028/www.scientific.net/AMR.945-949.1451

Paper Titles

Improving Navigational Accuracy for AUVs Based on an Adaptive Modified Square-Root Cubature Kalman Filter
p.1430

Optimal Locomotive Parameters of Four-Legged Bio-Robot by Minimizing Energy Consumption
p.1435

The Mechanism and Transmission Design of Robotic Fish in Coal Mine
p.1442

Research on Size Synthesis Optimization Design of a Bionic Exoskeleton for Index Finger Rehabilitation
p.1447

The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks
p.1451

Modeling of Rotating Piezoelectric Vibration Energy Harvesters with Nonlinear Magnetic Forces
p.1457

Rig Test and Analysis of Dynamic Engagement Process of Wet Clutch
p.1461

Design of a VCM Actuator Using Halbach Magnet Array for Active Vibration Isolation System
p.1465

Design and Modeling of a Biomimetic Stingray-Like Robotic Fish
p.1473

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 945-949The Direct Kinematics Solution of the 6-RSPS...

The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks

Abstract:

A new structure of 6-RSPS simulator platform which can be rotated infinitely is presented. The solution of direct kinematics problem of parallel structure is the fundamental problem. For the solution of this problem, according to the links vector diagram, the relationship of the position and orientation of the platform between the length of links and the rotate angle of the under-hinge is derived. BP network is applied, then using the previous data obtained by inverse kinematics as the training data and testing data of BP network, the direct kinematics solution is obtained. Simulation results verified that the solution of direct kinematics applied the BP network can be meet the requirements completely and the error percentages are within the acceptable range.

You might also be interested in these eBooks

Advances in Manufacturing Science and Engineering V

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 945-949)

Pages:

1451-1456

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.945-949.1451

Citation:

Cite this paper

Online since:

June 2014

Authors:

Jian Jun Li*, Chun Jie Yang, Wei Hong Sun

Keywords:

6-RSPS, BP Network, Direct Kinematics, Parallel Structure, Simulator Platform

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

* - Corresponding Author

References

[1] D. Toffin, G. Reymond, A. Kemeny, et al. Role of steering wheel feedback on driver performance: Driving simulator and modeling analysis [J]. Vehicle Syst. Dyn., 2007, 45(4): 375-388.

DOI: 10.1080/00423110601058874

Google Scholar

[2] Same, Adam, Stipe, Alex, Grossman, David, et al. A study on optimization of hybrid drive train using Advanced Vehicle Simulator (ADVISOR)[J]. Journal of Power Sources, 2010, 195(19): 6954-6963.

DOI: 10.1016/j.jpowsour.2010.03.057

Google Scholar

[3] Stewart D., A platform with six degrees of freedom[J]. proceedings of the IMechE, 1965, 180(15): 371-385.

Google Scholar

[4] Wang Xuanyin, Liu Rong, JiaGuangzheng, et al. RESEARCH ON COORDINATED CONTROL OF THE SIX DEGREES OF FREEDOM VEHICLE MOTION SIMULATOR[J]. Chinese Journal of Mechanical Engineering, 2004, 40(4): 160-163.

DOI: 10.3901/jme.2004.04.160

Google Scholar

[5] Bhaskar Dasgupta, T. S. Mruthyunjaya. The Stewart platform manipulator: a review[J]. Mechanism and Machine Theory, 2000, 35: 15- 40.

DOI: 10.1016/s0094-114x(99)00006-3

Google Scholar

[6] Huang Zhen, kong Lingfu, Fang Yuefa. Theory and Control of Parallel Robot Mechanism[M]. BeiJing: China Machine Press, (1997).

Google Scholar

[7] Wohlhart, Karl. Mobile 6-SPS parallel manipulators[J]. Journal of Robotic Systems, 2003, 20(8): 509-516.

DOI: 10.1002/rob.10101

Google Scholar

[8] M. S. KIM, Y. G. MOON, G. D. KIM, et al. Partial Range Scaling Method Based Washout Algorithm for a Vehicle Driving Simulator and its Evaluation[J]. International Journal of Automotive Technology, 2010, 11(2): 269-275.

DOI: 10.1007/s12239-010-0034-0

Google Scholar

[9] Min Kyu Park, Min Cheol Lee, Ki Sung Yoo, et al. Development of the PNU vehicle driving simulator and its performance evaluation[C]/ Proceedings - IEEE International Conference on Robotics and Automation. 2001, 3: 2325-2330.

DOI: 10.1109/robot.2001.932969

Google Scholar

[10] Chin-I Huang, Human Visual-Vestibular Based(HVVB) Adaptive Washout Filter Design for VR-Based Motion Simulator[C]/2010 International Symposium on Computer, Communication, Control and Automation. 2010: 179-182.

DOI: 10.1109/3ca.2010.5533601

Google Scholar

[11] Shi Feng, Wang Xiaochuan, Yu Lei et al. 30 cases study on the Neural Network of MATLAB[M]. BeiJing: BeiHang University Press, (2010).

Google Scholar