TY - JOUR
T1 - Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
AU - Leal-Naranjo, José Alfredo
AU - Ceccarelli, Marco
AU - Torres-San-Miguel, Christopher René
AU - Aguilar-Perez, Luis Antonio
AU - Urriolagoitia-Sosa, Guillermo
AU - Urriolagoitia-Calderón, Guillermo
N1 - Publisher Copyright:
© 2018 Brazilian Association of Computational Mechanics. All rights reserved.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Biomechanics
KW - Genetic algorithms
KW - Multi-objective optimization
KW - Prosthetic arm
UR - http://www.scopus.com/inward/record.url?scp=85047927381&partnerID=8YFLogxK
U2 - 10.1590/1679-78254044
DO - 10.1590/1679-78254044
M3 - Artículo
AN - SCOPUS:85047927381
SN - 1679-7817
VL - 15
JO - Latin American Journal of Solids and Structures
JF - Latin American Journal of Solids and Structures
IS - 3
M1 - e26
ER -