A Hybrid Strategy to Solve the Forward Kinematics of a Modified Parallel Cable 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.
Keywords - Cable mechanism, Forward kinematics, Hybrid method, Numerical analysis.