Forward Kinematics Analysis of 6-PUS Parallel Mechanism based on Optimized BP-NR Algorithm

This paper analyzes in detail the forward kinematics of 6-PUS parallel mechanism using MATLAB , SolidWorks and Adams software. The proposed algorithm combines the BP Neural Network with the Newton-Raphson method to form BP-NR algorithm. The BP neural network computes an approximation of the kinematic forward solution of the mechanism, which is used as the initial value of Newton-Raphson method for iterative computation to obtain the exact solution. Simulation verification shows that the BP-NR algorithm can simultaneously achieve high accuracy and real-time performance.