MULTI‐OBJECTIVE OPTIMIZATION OF A PARALLEL MANIPULATOR FOR THE DESIGN OF A PROSTHETIC ARM USING GENETIC ALGORITHMS

Authors

  • JOSÉ ALFREDO LEAL-NARANJO INSTITUTO POLITÉCNICO NACIONAL, SECCIÓN DE ESTUDIOS DE POSGRADO DE LA ESCUELA SUPERIOR DE INGENIERÍA MECÁNICA Y ELÉCTRICA UNIDAD ZACATENCO, MEXICO CITY, MEXICO / LARM: LABORATORIO DI ROBOTICA E MECCATRONICA, DICEM, UNIVERSITÁ DI CASSINO E DEL LAZIO MERIDIONALE, CASSINO, ITALY HTTP://ORCID.ORG/0000-0001-5470-6066
  • MARCO CECCARELLI LARM: LABORATORIO DI ROBOTICA E MECCATRONICA, DICEM, UNIVERSITÁ DI CASSINO E DEL LAZIO MERIDIONALE, CASSINO, ITALY
  • CHRISTOPHER RENÉ TORRES-SAN MIGUEL INSTITUTO POLITÉCNICO NACIONAL, SECCIÓN DE ESTUDIOS DE POSGRADO DE LA ESCUELA SUPERIOR DE INGENIERÍA MECÁNICA Y ELÉCTRICA UNIDAD ZACATENCO, MEXICO CITY, MEXICO
  • LUIS ANTONIO AGUILAR-PEREZ INSTITUTO POLITÉCNICO NACIONAL, SECCIÓN DE ESTUDIOS DE POSGRADO DE LA ESCUELA SUPERIOR DE INGENIERÍA MECÁNICA Y ELÉCTRICA UNIDAD ZACATENCO, MEXICO CITY, MEXICO
  • GUILLERMO URRIOLAGOITIA-SOSA INSTITUTO POLITÉCNICO NACIONAL, SECCIÓN DE ESTUDIOS DE POSGRADO DE LA ESCUELA SUPERIOR DE INGENIERÍA MECÁNICA Y ELÉCTRICA UNIDAD ZACATENCO, MEXICO CITY, MEXICO
  • GUILLERMO URRIOLAGOITIA-CALDERÓN INSTITUTO POLITÉCNICO NACIONAL, SECCIÓN DE ESTUDIOS DE POSGRADO DE LA ESCUELA SUPERIOR DE INGENIERÍA MECÁNICA Y ELÉCTRICA UNIDAD ZACATENCO, MEXICO CITY, MEXICO

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 ACTUA-TORS 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 IMPLEMENT-ED. THE OUTCOMES SHOW THAT A SUITABLE PERFORMANCE OF THE MANIPU-LATOR IS ACHIEVED USING THE PROPOSED OPTIMIZATION.

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Published

2018-02-05

Issue

Vol. 15 No. 3 (2018)

Section

Articles

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