The Direct Kinematics solution of the 6-RSPS Simulator Platform with BP networks

摘要：

　　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,get the direct kinematics solution.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.

关键词： Parallel Structure Simulator Platform 6-RSPS Direct Kinematics BP Network

作者: Li Jianjun Wei Yanding Zhou Xiaojun

作者单位: Institute of Advanced Manufacturing Engineering,Zhejiang University,Hangzhou,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1593-1598

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）