Title :
Hyper-chaotic Finding Method of Forward Displacement Analysis of 4-DOF Parallel Manipulator
Author :
He, Zheming ; Luo, Youxin ; Che, Xiaoyi
Author_Institution :
Coll. of Mech. Eng., Hunan Univ. of Arts & Sci., Changde, China
Abstract :
The position forward kinematics of mechanism is the basis of mechanism design. The position analysis problem can be transformed into nonlinear equations to be found. Newton iterative method is an important technique to one dimensional and multidimensional variables and iterative process exhibits sensitive dependence on initial guess point. In this paper, position analysis equations of 4-RPTR parallel manipulator were built. All real solutions were found based on utilizing general Henon hyper-chaotic system to obtain sensitive initial points of Newton iterative method and assembly configuration were also given. The numerical example shows that the new method is correct and effective.
Keywords :
Newton method; manipulator kinematics; nonlinear equations; position control; 4-DOF parallel manipulator; Henon hyperchaotic system; Newton iterative method; forward displacement analysis; hyperchaotic finding method; iterative process; nonlinear equation; position analysis equation; position forward kinematics; Art; Chaos; Educational institutions; Information analysis; Information technology; Iterative methods; Kinematics; Mechanical engineering; Nonlinear equations; Parallel robots; 4-DOF; hyper-chaotic sequence; hyper-chaotic system; parallel mechanism; position forward kinematics;
Conference_Titel :
Intelligent Information Technology Application, 2009. IITA 2009. Third International Symposium on
Conference_Location :
Nanchang
Print_ISBN :
978-0-7695-3859-4
DOI :
10.1109/IITA.2009.217