DocumentCode :
3360702
Title :
Displacement analysis of the 4SPS-2CCS mechanism based on hyper-chaotic network
Author :
Youxin Luo ; Che, Xiaoyi ; Zeng, Bin ; Huang, Xiguang
Author_Institution :
Coll. of Mech. Eng., Hunan Univ. of Arts & Sci., Changde, China
fYear :
2009
fDate :
9-12 Aug. 2009
Firstpage :
3562
Lastpage :
3567
Abstract :
The forward displacement analysis of parallel mechanism is attributed to find the solutions of complicated nonlinear equations and it is a very difficult process. Taking chaotic sequences as the initial values of Newton iterative method we can find all the solutions of equations quickly. Making use of existing chaos system and discovering new chaos system to generate chaotic sequences with good properties is the key to the Newton iterative method based on Chaos sequences. Based on the topology structure of chaotic neural network connected with four chaotic neurons, hyper-chaos phenomenon exists in the chaotic neural network system. For the first time, based on utilizing hyper-chaotic neural network to obtain initial points a new method of finding all real number solutions of the nonlinear questions is proposed. Using quaternion, the author establishes the mathematical model of forward displacement for the generalized 4SPS-2CCS parallel robot mechanism and a numerical example is given. Compared to the Homotopy continuation method the result shows the calculation is brief and high calculation efficiency as the calculation is done in real number range. The proposed method has universality which can be used in forward displacement of other parallel mechanism.
Keywords :
Newton method; chaos; neural nets; robot kinematics; 4SPS-2CCS parallel robot mechanism; Homotopy continuation method; Newton iterative method; chaos sequences; chaos system; chaotic neurons; chaotic sequences; complicated nonlinear equations; forward displacement analysis; hyper chaos phenomenon; hyper chaotic neural network; mathematical model; topology structure; universality; Carbon capture and storage; Chaos; Iterative methods; Kinematics; Mechatronics; Neural networks; Nonlinear dynamical systems; Nonlinear equations; Parallel robots; Quaternions; Forward displacement analysis; chaotic sequences; hyper-chaotic neural network; nonlinear equations; parallel mechanism; quaternion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
Type :
conf
DOI :
10.1109/ICMA.2009.5246085
Filename :
5246085
Link To Document :
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