Síntesis Genética de Mecanismos para Aplicaciones en Prótesis de Miembro Inferior

The synthesis of planar mechanism represents an attractive problem to be solved using evolutionary techniques as it involves an underdetermined nonlinear set of equations that grow in number as more precision points are defined to describe the desired trajectory of the coupler. This paper presents a Genetic Algorithm (GA) based approach for optimisation of the kinematical synthesis of a 6-bar Watt type mechanism for prosthetic knee applications. The desired trajectory to be described by the coupler corresponds to the trajectory of the knee during a normal gait cycle. The generated trajectory illustrates how it naturally evolves from an erratic solution to a smooth fitted curve.