Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

Table 1

Forward kinematics results of the parallel manipulator by utilizing the BP neutral network.

No.	Values	(mm)	(rad)	(rad)	Error/10^-3
1	Target	0.7	0.1	0	2.166008
	Calculated	0.701021	0.083644	-0.020175
2	Target	0.7	0	0.1	2.264033
	Calculated	0.701452	-0.011170	0.124723
3	Target	0.7	0.1	0.1	0.885016
	Calculated	0.701227	0.092165	0.107064
4	Target	0.75	0.15	0	2.871267
	Calculated	0.751755	0.132945	-0.029886
5	Target	0.75	0	0.15	2.332283
	Calculated	0.753355	-0.013697	0.174175
6	Target	0.75	0.15	0.15	0.668443
	Calculated	0.752444	0.144920	0.155706
7	Target	0.75	-0.1	0.15	2.768450
	Calculated	0.755368	-0.104542	0.182469
8	Target	0.75	0.15	-0.1	5.261575
	Calculated	0.752359	0.114646	-0.152260
9	Target	0.75	0	0.25	3.533075
	Calculated	0.755474	-0.039118	0.234595
10	Target	0.75	0.25	0	3.746533
	Calculated	0.752127	0.254188	-0.044712
11	Target	0.75	-0.25	0.25	9.037167
	Calculated	0.748228	-0.346240	0.200049
12	Target	0.8	0.15	0.25	1.170758
	Calculated	0.800083	0.136980	0.244722