Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Forward/inverse kinematics solvers for a 3-UU parallel mechanism are provided in this paper. The mechanism can tilt largely in two directions and support heavy load, so that it is available for an inclining platform. In spite of that, its kinematics cannot be solved in straightforward ways due to an interesting feature that its degree-of-freedom in theory is zero. Although an iterative method was proposed in the previous report, its slow convergence had been a problem. An artificial neural network is used for the solver, where the training data is prepared by the above method. The network shows a fast reasoning ability that is available for real-time control.
