In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for specific trajectory, and used as inputs for the applied ANNs. The results of both applied networks (Multi-Layer Perceptron and Redial Basis Function) satisfied the required performance in solving complex inverse kinematics with proper accuracy and speed.

In this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. This mechanism has two rotational and one translational degree of freedom. Kinematics and Jacobian analysis are investigated.Moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in Matlab software. Because of reducing moving elements, it is expected much more better dynamic performance with respect to other counterpart mechanisms with the same degrees of freedom. In addition, using couple of cylindrical and revolute joints, increased mechanism ability resulted to have more extended workspace.

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other techniques such as geometric approach and a numerical method known as polynomial continuation. Numerical examples are performed to display all possible solutions available for the devised manipulator.

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they are dependent coordinates. This paper shows the advantage of Euler parameters rather than Euler angles as the rotational coordinates for the manipulator. Additionally, the real loci of singularity for the manipulator due to its structure are predicted.

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 is presented for this manipulator. 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 di cult to solve the forward kinematics problem, since it is highly nonlinear and coupled. In this work, three di erent approaches are presented to deal with this issue, namely, the back propagation neural network, the simpli ed 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, shows the best performance in estimation of the nonlinear forward kinematic mapping of the considered parallel manipulator.

This paper presents a new architecture design for planar parallel manipulators, which helps greatly to increase their maneuverability and enlarging their workspace. In many cases it is very difficult to express interlace of links as constraint and it is an obstacle, which doesn"t let the computations for kinematics, or workspace is the same as in practical case. This new architectural design makes this wish comes true for computation and practical cases. To show how it works, a 3-DOF planar parallel manipulator is selected. In the mechanism, the prismatic actuators are fixed to the base which leads to a reduction of the moving links inertia, hence makes it attractive, particularly when high speeds are required and electric actuation is considered. First, the mechanism is introduced; then a new design is introduced based on the geometry of the manipulator to increase flexibility and accessibility. Finally a workspace analysis is performed. Optimization of workspace is considered with 3 different methods: Monte Carlo, Exact Method (introduced for the first time) and Global Condition Index. Then the results are compared.