Displacement analysis of the 4SPS-2CCS mechanism based on hyper-chaotic network

Abstract

The forward displacement analysis of parallel mechanism is attributed to find the solutions of complicated nonlinear equations and it is a very difficult process. Taking chaotic sequences as the initial values of Newton iterative method we can find all the solutions of equations quickly. Making use of existing chaos system and discovering new chaos system to generate chaotic sequences with good properties is the key to the Newton iterative method based on Chaos sequences. Based on the topology structure of chaotic neural network connected with four chaotic neurons, hyper-chaos phenomenon exists in the chaotic neural network system. For the first time, based on utilizing hyper-chaotic neural network to obtain initial points a new method of finding all real number solutions of the nonlinear questions is proposed. Using quaternion, the author establishes the mathematical model of forward displacement for the generalized 4SPS-2CCS parallel robot mechanism and a numerical example is given. Compared to the Homotopy continuation method the result shows the calculation is brief and high calculation efficiency as the calculation is done in real number range. The proposed method has universality which can be used in forward displacement of other parallel mechanism.