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CHEN Weishan
CHEN Hua
LIU Junkao
School of Mechatronics Engineering,
Harbin Institute of Technology,
Harbin 150001, China
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DIRECT DISPLACEMENT OF
PARALLEL MECHANISM WITH
WAVELET NETWORK
Abstract:
A new method solution for the direct displacement of parallel mechanism, wavelet network method, is proposed. Comparing with the classical analytical and numerical methods, this method can be extended to any parallel mechanism with any selected degree of freedom and configuration. A wavelet network suiting to approach multi-input and multi-output system is constructed. The network is optimized by analyzing the sparseness of input data and selecting the fitting wavelets by orthogonalization method according to the output data. Then it is applied to solve the direct displacement of a general six-degree-of-freedom parallel mechanism as a numerical example. For comparison purposes, a BP neural network is also used for this problem. Simulation results show that the wavelet network performs better than BP neural network. In addition, the wavelet network learns much faster than BP network.
Key words:
Direct displacement Parallel mechanism Wavelet network |