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Quantitative and qualitative study of methods for solving the kinematic problem of a planar parallel manipulator based on precision error optimization

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Abstract

The main objective of our work is to optimize the positional and orientation error of a platform using the direct geometric model of a parallel plane manipulator robot. It is well known that the main disadvantage of parallel manipulators is the existence of singularities within its workspace, the adaptive neuro-fuzzy solution is proposed in this study. Intermediate methods have been used to determine the optimal solution. The first method is a graphical method which determines all possible positions of the platform based on the intersection of circles. The second method is the polynomial method used to calculate the coordinates of the center of gravity and the orientation of the platform. Matlab programming simulation of these methods makes it possible to find all the solutions deduced from these methods. The analysis shows that the polynomial method is the one that provides the optimal solution.

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Authors and Affiliations

  1. Laboratory of Structures and Solids Mechanics (LMSS), University Djilali Liabès of Sidi-Bel-Abbes, 22000, Sidi Bel Abbès, Algeria

    Sid-Ahmed Dahmane, Abdelwahab Azzedine & Abdelkader Megueni

  2. Laboratoire de mécanique appliquée, Département de Génie Mécanique, Université des Sciences et de la technologie d’Oran Mohamed Boudiaf, USTO-MB, BP 1505, El M’naouer, 31000, Oran, Algeria

    Abdelkader Slimane

  3. Laboratory of Materials and Reactive Systems (LMSR), Department of Mechanical Engineering, University of Sidi-Bel-Abbes, Bp 89, cité Ben M’hidi, 22000, Sidi Bel Abbès, Algeria

    Abdelkader Slimane

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  1. Sid-Ahmed Dahmane
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  2. Abdelwahab Azzedine
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  3. Abdelkader Megueni
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  4. Abdelkader Slimane
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Correspondence to Sid-Ahmed Dahmane.

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Appendix: Fuzzy neural method

Appendix: Fuzzy neural method

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Dahmane, SA., Azzedine, A., Megueni, A. et al. Quantitative and qualitative study of methods for solving the kinematic problem of a planar parallel manipulator based on precision error optimization. Int J Interact Des Manuf 13, 567–595 (2019). https://doi.org/10.1007/s12008-018-0519-z

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  • DOI: https://doi.org/10.1007/s12008-018-0519-z

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