DIRECT DISPLACEMENT OF PARALLEL MECHANISM WITH WAVELET NETWORK  

作　　者：CHEN Weishan CHEN Hua LIU Junkao 

机构地区：[1]School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China

出　　处：《Chinese Journal of Mechanical Engineering》2007年第2期69-72,共4页中国机械工程学报（英文版）

摘　　要：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 displace- ment 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.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 displace- ment 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.

关 键 词：Direct displacement Parallel mechanism Wavelet network 

分 类 号：TH113.2[机械工程—机械设计及理论] TP215[自动化与计算机技术—检测技术与自动化装置]