Design of Two-Serial Hexapod of Discrete Manipulator

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.