  In this research, Artificial Neural Networks (ANNs) have been used as a
powerful tool to solve the inverse kinematic equations of a parallel robot. For
this purpose, we have developed the kinematic equations of a Tricept parallel
kinematic mechanism with two rotational and one translational degrees of
freedom (DoF). Using the analytical method, the inverse kinematic equations are
solved for specific trajectory, and used as inputs for the applied ANNs. The
results of both applied networks (Multi-Layer Perceptron and Redial Basis
Function) satisfied the required performance in solving complex inverse
kinematics with proper accuracy and speed.
