TY - JOUR ID - 20740 TI - Forward kinematics analysis of a novel 3-DOF parallel manipulator JO - Scientia Iranica JA - SCI LA - en SN - 1026-3098 AU - Wu, X. AU - Xie, Z. AD - - State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China. - Department of Mechanical and Manufacturing Engineering, Aalborg University, Aalborg 9200, Denmark. AD - State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China Y1 - 2019 PY - 2019 VL - 26 IS - 1 SP - 346 EP - 357 KW - parallel manipulator KW - kinematics analysis KW - Neural network KW - ant colony optimization KW - Newton iterative method DO - 10.24200/sci.2018.20740 N2 - A novel spatial parallel manipulator designed to assemble diagnostic instruments in SG-III is introduced in this paper. Firstly, resorting to screw theory, mobility analysis of this manipulator is investigated. Then the inverse kinematics problem is determined by the method of RPY transformation, with the singularity analyzed. As a key issue in parallel manipulators, it is more difficult to solve the forward kinematics problem, since it is highly nonlinear and coupled. In this work, three different approaches are presented to deal with this issue, which include the back propagation neural network, the simplified ant colony optimization and the proposed improved Newton iterative method. Simulation of each approach is conducted, and their merits and demerits are compared in detail. It is concluded that the improved Newton iterative method which can provide good initial iteration values possesses the best performance to estimate the nonlinear forward kinematic mapping of the considered parallel manipulator UR - https://scientiairanica.sharif.edu/article_20740.html L1 - https://scientiairanica.sharif.edu/article_20740_b8f397366dc6f96b189bed4d4e6a458a.pdf ER -