### Design of Massive Actuators For 3D Robot Manipulators

#### Abstract

**In this paper, a novel ****parallel manipulator with discrete control system ****is developed. ****An efficient method such as Inverse Static Analysis (ISA) is employed ****to determine the state of each actuator on parallel manipulator when the position or force ****of manipulator ****is already known****. The**** designing a parallel manipulator with 16 actuators ****which are controlled discretely is a must because the mechanism will use artificial methods in dealing with the ISA problem. ****In this approach, ****mathematical model ****is not required.**** **

**The research method used simulation ****software ****and hardware testing**** with**** ****the ****case of ****parallel manipulator with 16 actuators. **

**Simulations with typical desired ****force ****inputs are presented and a**** ****good performance of the ****mechanism**** is obtained.**** ****The results showed that the parallel manipulator ****has the Root Mean Squared Error (RMSE) has less than 3%**** and can be used for ****artificial intelligence**** implementation.**

#### Keywords

#### References

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