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

Detalhes bibliográficos
Autor(a) principal: Leal-Naranjo,José-Alfredo
Data de Publicação: 2018
Outros Autores: Ceccarelli,Marco, Torres-San-Miguel,Christopher-René, Aguilar-Perez,Luis-Antonio, Urriolagoitia-Sosa,Guillermo, Urriolagoitia-Calderón,Guillermo
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Latin American journal of solids and structures (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252018000300508
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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spelling Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithmsProsthetic armBiomechanicsMulti-objective optimizationGenetic algorithmsAbstract 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.Associação Brasileira de Ciências Mecânicas2018-01-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252018000300508Latin American Journal of Solids and Structures v.15 n.3 2018reponame:Latin American journal of solids and structures (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/1679-78254044info:eu-repo/semantics/openAccessLeal-Naranjo,José-AlfredoCeccarelli,MarcoTorres-San-Miguel,Christopher-RenéAguilar-Perez,Luis-AntonioUrriolagoitia-Sosa,GuillermoUrriolagoitia-Calderón,Guillermoeng2018-05-24T00:00:00Zoai:scielo:S1679-78252018000300508Revistahttp://www.scielo.br/scielo.php?script=sci_serial&pid=1679-7825&lng=pt&nrm=isohttps://old.scielo.br/oai/scielo-oai.phpabcm@abcm.org.br||maralves@usp.br1679-78251679-7817opendoar:2018-05-24T00:00Latin American journal of solids and structures (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
title Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
spellingShingle Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
Leal-Naranjo,José-Alfredo
Prosthetic arm
Biomechanics
Multi-objective optimization
Genetic algorithms
title_short Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
title_full Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
title_fullStr Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
title_full_unstemmed Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
title_sort Multi-objective optimization of a parallel manipulator for the design of a prosthetic arm using genetic algorithms
author Leal-Naranjo,José-Alfredo
author_facet Leal-Naranjo,José-Alfredo
Ceccarelli,Marco
Torres-San-Miguel,Christopher-René
Aguilar-Perez,Luis-Antonio
Urriolagoitia-Sosa,Guillermo
Urriolagoitia-Calderón,Guillermo
author_role author
author2 Ceccarelli,Marco
Torres-San-Miguel,Christopher-René
Aguilar-Perez,Luis-Antonio
Urriolagoitia-Sosa,Guillermo
Urriolagoitia-Calderón,Guillermo
author2_role author
author
author
author
author
dc.contributor.author.fl_str_mv Leal-Naranjo,José-Alfredo
Ceccarelli,Marco
Torres-San-Miguel,Christopher-René
Aguilar-Perez,Luis-Antonio
Urriolagoitia-Sosa,Guillermo
Urriolagoitia-Calderón,Guillermo
dc.subject.por.fl_str_mv Prosthetic arm
Biomechanics
Multi-objective optimization
Genetic algorithms
topic Prosthetic arm
Biomechanics
Multi-objective optimization
Genetic algorithms
description 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.
publishDate 2018
dc.date.none.fl_str_mv 2018-01-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252018000300508
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252018000300508
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/1679-78254044
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Ciências Mecânicas
publisher.none.fl_str_mv Associação Brasileira de Ciências Mecânicas
dc.source.none.fl_str_mv Latin American Journal of Solids and Structures v.15 n.3 2018
reponame:Latin American journal of solids and structures (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Latin American journal of solids and structures (Online)
collection Latin American journal of solids and structures (Online)
repository.name.fl_str_mv Latin American journal of solids and structures (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv abcm@abcm.org.br||maralves@usp.br
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