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Design of Two-Serial Hexapod of Discrete Manipulator

Alimin, Roche and Pasila, Felix (2015) Design of Two-Serial Hexapod of Discrete Manipulator. In: Seventh International Conference on Computational Intelligence, Modelling and Simulation, 29-07-2015 - 29-07-2015, Kuantan - Malaysia.

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    Abstract

    In this paper, a novel two-serial Hexapod of 3D dicrete manipulator (double hexapod) is developed. The designing of a parallel manipulator with actuators, which controlled discretely, is a must because the mechanism uses artificial intelligence method when dealing with the inverse static analysis (ISA) problem. In this approach, mathematical model of the manipulator is not compulsory. The research method used simulation software modeling and testing with the case of two serial-hexapod of discrete manipulator with 12 actuators. A neuro-fuzzy network type Takagi-Sugeno (NFTS) with Levenberg-Marquardt Algorithm (LMA) is proposed as ISA solution, where three displacements and twelve discrete actuators as inputs and outputs of network respectively. The performance of NFTS shows that the error, such as Root Mean Squared Error, is 3.39% in average.

    Item Type: Conference or Workshop Item (Paper)
    Uncontrolled Keywords: two-serial hexapod; parallel discrete manipulator; Inverse Static Analysis
    Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
    Divisions: Faculty of Industrial Technology > Mechanical Engineering Department
    Depositing User: Admin
    Date Deposited: 11 Feb 2016 03:28
    Last Modified: 27 Apr 2016 23:27
    URI: http://repository.petra.ac.id/id/eprint/17378

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