Kinematic and inverse kinematic analysis of hybrid Delta parallel robot with spherical wrist using Adptive Neuro Fuzzy Inference System

In this research, direct kinematic and inverse kinematic analysis of a 6 DOF hybrid robot has been performed by connecting a spherical parallel robot with three degrees of rotational freedom to a delta parallel robot. The advantage of this combination is that the motion equations are independent of the spatial orientation equations so that the robot can be moved to any location from the Delta robot workspace without any limitations, with any orientation that is available through a spherical parallel robot. Therefore, the kinematic models of these two parallel robots are extracted independently and ultimately combined to work as an integrated platform. A mechanical model of the robot is implemented in Simscape environment of MATLAB software. Then, the accuracy of these two models is checked and shown to be perfectly consistent. The transational and rotational workspace for the end-effector of the hybrid parallel robot have also been calculated using robot kinematic relations and by the help of numerical methods. Additionally, the robot inverse kinematics has been used to implement an adaptive neuro fuzzy inference system (ANFIS) to predict kinematic responses with high accuracy.