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

Leal-Naranjo, José-Alfredo; Ceccarelli, Marco; Miguel, Christopher René Torres-San; Aguilar-Peréz, Luis Antonio; Urriolagoitia-Sosa, Guillermo; Urriolagoitia-Calderón, Guillermo

doi:10.1590/1679-78254044

Cited by 15 publications

(12 citation statements)

References 22 publications

(21 reference statements)

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…[2]) and parallel (e.g. [8,10]) robots. In this study, we selected the classical Yoshikawa's manipulability index [14] because of the following reasons.…”

Section: Optimization Of the End-effectormentioning

confidence: 99%

Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography

Griffa

Filippeschi

Avizzano

2020

Mechanisms and Machine Science

View full text Add to dashboard Cite

Robotic tele-examination is mainstream for solving the nowadays worsening shortage of physicians. However, many solutions are based on custom robotic arms, whereas using COTS arms could reduce costs and make such systems affordable. In this paper, we address the problem of the design of an end-effector for cardiac tele-ultrasonography, assuming the use of a popular and low-cost industrial robot such as the Universal Robot UR5. We use a kinematic optimization based on the manipulability measure taking into account the position of the robot base with respect to the patient, the number of degrees of freedom (DoFs), and the size of the end-effector. The constraints of the problem are the full inclusion of the examination area in the workspace and the possibility to orient the probe correctly. The results of this study show that, although the arm has 6 DoFs, an additive DoF of the end-effector improves the manipulability measure by more than 100%.

show abstract

“…[2]) and parallel (e.g. [8,10]) robots. In this study, we selected the classical Yoshikawa's manipulability index [14] because of the following reasons.…”

Section: Optimization Of the End-effectormentioning

confidence: 99%

Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography

Griffa

Filippeschi

Avizzano

2020

Mechanisms and Machine Science

View full text Add to dashboard Cite

show abstract

“…O mecanismo do ombro é modelado como um manipulador paralelo esférico do tipo 3-RRR (Figura 1 ). A síntese dimensional deste manipulador foi realizada utilizando uma otimização multiobjetiva baseada em algoritmos genéticos [ 11 ].…”

Section: Design De Ombrounclassified

“…A função objetivo foi a minimização do torque máximo exercido pelo motor. Uma análise estática do mecanismo de quatro barras foi realizada como mostrado na Figura 2 .De simulações dinâmicas anteriores[ 11 ], e são valores conhecidos. Uma otimização baseada no GA foi realizada usando o algoritmo da Figura 3 .…”

unclassified

Proposta para confecção de implantes protéticos de braços mecânicos com custos reduzidos.

Martins¹,

Sampaio²,

Duarte³

et al. 2020

Braz. J. Implantol. Health Sci.

View full text Add to dashboard Cite

Introdução: Grandes são as dificuldades dos pacientes amputados nos membros superiores. A maioria das próteses de braço apresentam alto custo e difícil acesso. Objetivos: Este trabalho apresenta o projeto de um dispositivo protético de baixo custo para desarticulação do ombro Metodologia: Um design adequado dos mecanismos foi abordado para obter um protótipo que apresenta 7 graus de liberdade. O movimento do ombro é realizado por meio de um manipulador paralelo esférico, o movimento do cotovelo é realizado por um mecanismo de seis barras e o movimento do punho é implementado por um manipulador paralelo esférico. Um conjunto de simulações dinâmicas foi realizado para avaliar a funcionalidade do projeto. O protótipo foi construído usando técnicas de impressão 3D e implementando atuadores de baixo custo. Uma avaliação experimental foi realizada para caracterizar este dispositivo. Resultados: O resultado deste trabalho é um protótipo de 1350 g, capaz de realizar movimentos relacionados às atividades da vida diária.

show abstract

“…The shoulder mechanism is modeled as a 3-RRR-type spherical parallel manipulator ( Figure 1 ). The dimensional synthesis of this manipulator was carried out using a multiobjective optimization based on genetic algorithms [ 11 ].…”

Section: Shoulder Designmentioning

confidence: 99%

“…From previous dynamic simulations [ 11 ], τ out and θ 3 are known values. An optimization based on GA was carried out using the algorithm in Figure 3 .…”

Section: Shoulder Designmentioning

confidence: 99%

Mechanical Design and Assessment of a Low-Cost 7-DOF Prosthetic Arm for Shoulder Disarticulation

Leal-Naranjo

Miguel

Ceccarelli

et al. 2018

Applied Bionics and Biomechanics

Self Cite

View full text Add to dashboard Cite

This work presents the design of a low-cost prosthetic device for shoulder disarticulation. A proper design of the mechanisms has been addressed to obtain a prototype that presents 7 degrees of freedom. Shoulder movement is achieved by means of a spherical parallel manipulator, elbow movement is performed by a six-bar mechanism, and the wrist movement is implemented by a spherical parallel manipulator. A set of dynamic simulations was performed in order to assess the functionality of the design. The prototype was built using 3D printing techniques and implementing low-cost actuators. An experimental evaluation was carried out to characterize this device. The result of this work is a prototype that weighs 1350 g that is able to perform movements related to activities of daily living.

show abstract

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

Cited by 15 publications

References 22 publications

Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography

Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography

Proposta para confecção de implantes protéticos de braços mecânicos com custos reduzidos.

Mechanical Design and Assessment of a Low-Cost 7-DOF Prosthetic Arm for Shoulder Disarticulation

Contact Info

Product

Resources

About