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Inverse Kinematic Solution for Five bar Parallel Linkage Planar Manipulator using PYTHON and Optimization by Taguchi Method

Inverse Kinematic Solution for Five bar Parallel Linkage Planar Manipulator using PYTHON and Optimization by Taguchi Method
	© 2021 by IJETT Journal
	Volume-69 Issue-5
	Year of Publication : 2021
	Authors : Dr. Reddy Sreenivasulu, Dr. Goteti Chaitanya, Dr.Gangolu Vijay Kumar, Matti Radha Devi
	DOI :  10.14445/22315381/IJETT-V69I5P214

How to Cite?

Dr. Reddy Sreenivasulu, Dr. Goteti Chaitanya, Dr.Gangolu Vijay Kumar, Matti Radha Devi, "Inverse Kinematic Solution for Five bar Parallel Linkage Planar Manipulator using PYTHON and Optimization by Taguchi Method," International Journal of Engineering Trends and Technology, vol. 69, no. 5, pp. 94-100, 2021. Crossref, https://doi.org/10.14445/22315381/IJETT-V69I5P214

Abstract
The kinematic design of robotic manipulator is a vital role while designing a robot for particular application by the mechanical engineers. It is a basic thing for further automation to work with a robot in a shop floor. In this connection, five bar parallel linkages provided in the advanced kinematics is an important design aspect towards robotic field where ever complex applications are involved not only in manufacturing, in other areas also. So, in the present work design of a manipulator which operated by five bar parallel linkage mechanism is described by considering geometric approach to solve inverse kinematics. In geometric approach, whenever number of links or degrees of freedom increases then solution becomes critical and almost laborious process to attain the solution. PYTHON, simple software presently numerous engineers are applied for solution of variety of problems occurred in all fields including engineering. The developed geometric solution is converted into coded form using PYTHON to reduce the complexity and save the design time. Once, the solution is generated by giving the inputs randomly and then infinite solution schemes are obtained. From that solution scheme, to get feasible solution for optimum set of kinematic structural solution taguchi method is utilized in the present study. The hypothesis presented in this paper is valid or not is checked with analysis of variance and found good agreement.

Keywords
Inverse kinematics, 5- bar parallel linkage, PYTHON, Taguchi method, S/N ratio

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