A Hybrid Strategy to Solve the Forward Kinematics of Modified Parallel Wire Mechanism

Measuring robots end-effector position and orientation is very important for system control. In this paper, a parallel cable mechanism is develop to measure orientation and position. The robot can move freely (6 DOF) in space. This measurement needs to forward kinematic solution. On the other hand, there are the singularity points within workspace. This paper, use a combination of neural network approach and Newton-Rophson method namely hybrid method to overcome the complex nonlinear equation solving of forward kinematic problem. It is shown that there is a zone in central part of workspace that hybrid method output is not acceptable. Then a solution as a new mechanism design is propose to solve this inherent problem. Finally hybrid method for this new parallel cable mechanism is implemented.