Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms

被引：11

作者：

Leal-Naranjo, Jose-Alfredo ^{[1
,2
]}

Ceccarelli, Marco ^{[2
]}

Torres-San-Miguel, Christopher-Rene ^{[1
]}

Aguilar-Perez, Luis-Antonio ^{[1
]}

Urriolagoitia-Sosa, Guillermo ^{[1
]}

Urriolagoitia-Calderon, Guillermo ^{[1
]}

机构：

[1] Inst Politecn Nacl, Secc Estudios Posgrad, Escuela Super Ingn Mecan & Elect, Unidad Zacatenco, Mexico City, DF, Mexico

[2] Univ Cassino & Lazio Meridionale Cassino, LARM Lab Robot & Meccatron, DiCEM, Cassino, Italy

来源：

LATIN AMERICAN JOURNAL OF SOLIDS AND STRUCTURES | 2018年 / 15卷 / 03期

关键词：

Prosthetic arm; Biomechanics; Multi-objective optimization; Genetic algorithms; MECHANISMS;

D O I：

10.1590/1679-78254044

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This paper presents a synthesis of a spherical parallel manipulator for a shoulder of a seven-degrees-of-freedom prosthetic human arm using a multi-objective optimization. Three design objectives are considered, namely the workspace, the dexterity, and the actuators torques. The parallel manipulator is modelled considering 13 design parameters in an optimization procedure. Due to the non-linearity of the design problem, genetic algorithms are implemented. The outcomes show that a suitable performance of the manipulator is achieved using the proposed optimization.

引用

页数：15

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