Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
AUTOR(ES)
Leal-Naranjo, José-Alfredo, Ceccarelli, Marco, Torres-San-Miguel, Christopher-René, Aguilar-Perez, Luis-Antonio, Urriolagoitia-Sosa, Guillermo, Urriolagoitia-Calderón, Guillermo
FONTE
Lat. Am. j. solids struct.
DATA DE PUBLICAÇÃO
14/05/2018
RESUMO
Abstract 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.
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