Modeling in Two Configurations of a 5R 2-DoF Planar Parallel Mechanism and Solution to the Inverse Kinematic Modeling Using Artificial Neural Network

This article introduces a new kinematic modeling method used to analyze coupled rigid multibody movements. The method was applied to the study of a 5R planar parallel mechanism's kinematics and consists of analyzing two fixed configurations of the mechanism to systematize the rotational relationships between the two structures. Mathematical models were developed using complex numbers. The inverse kinematic problem was modeled as a system of eight nonlinear equations and eight unknowns, which was solved with Newton-Raphson's method. Subsequently, with the inverse problem model, a numerical database related to the mechanism configurations, including singular positions, was generated to train a multilayer neural network. The Levenberg-Marquardt algorithm was used for network training. Finally, an interpolated linear path was used to understand the efficiency of the trained network.