THE POSITION ANALYSIS AND SIMULATION BY ARTIFICIAL NEURAL NETWORK OF A STEWART PLATFORM
碩士 === 國立中央大學 === 機械工程學系 === 84 === THE POSITION ANALYSIS AND SIMULATION BY ARTIFICIAL NEURAL NETWORK OF A STEWART PLATFORM ABSTRACT The Stewart Platform is a fully parallel kinematiclinkage mechanism which has 6-degree-of freedom. The...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
1996
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| Online Access: | http://ndltd.ncl.edu.tw/handle/01880828141299259115 |
| Summary: | 碩士 === 國立中央大學 === 機械工程學系 === 84 === THE POSITION ANALYSIS AND SIMULATION BY ARTIFICIAL NEURAL
NETWORK OF A STEWART PLATFORM ABSTRACT The
Stewart Platform is a fully parallel kinematiclinkage mechanism
which has 6-degree-of freedom. Therelated studies in kinematics
focus the attention onthe method of numerical analysis. This
paper presentsthe special geometric configuration of the
linkages to derive a kinematic equation. Substituting the
givenlengths of the six variable limbs into the
kinematicequation derived can find the position and
orientationof the upper platform relative to the lower platform.
Due to the feature of the multi-solutions of upper plat-form for
a given input(lengths of six limbs), it needsto find the
relation among the different set solutionsof the given inputs to
get a set of solutions continuousin locus of the upper platform.
These continuous solu-tions can be trained by back propagation
neural network.After the training step is done, this neural
network canbe constructed by hardware to be used in real time.
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