Optimal kinematic synthesis and fabrication of a one-DoF prosthetic finger

Rajestari, Zahra; Feizi, Navid; Taghvaei, Sajjad; Jalisi, Mehrzad

doi:10.1007/s40430-017-0811-z

Cited by 6 publications

(6 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This skeleton can be custom designed considering the application like the one in Fig. 12 by Rajestari et al [15] for finger amputees which has the same basis but different link shapes and a slightly different way of connecting links.…”

Section: Synthesis Resultsmentioning

confidence: 99%

“…The dimensional design was formulated as a multi-objective optimization problem, and the results were used to enhance a built prototype of a three-fingered hand. An algorithm for the optimal design of the mechanism to be used as a prosthetic finger was provided by Rajestari et al [15], and using the experimental data led to fabrication of a prototype of a 1-DOF prosthetic finger.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimal kinematic design of a single-DOF planar grasper based on metaheuristic optimization

Eqra

Taghvaei

Vatankhah

2019

J Braz. Soc. Mech. Sci. Eng.

Self Cite

View full text Add to dashboard Cite

A method is proposed for optimal synthesis of a grasper mechanism for circular objects. A single-DOF linkage-type grasper is developed considering the geometry of the target objects. The mechanism consists of successive coupled four-bar linkages and is capable of grasping circular objects with desirable range of diameter. The synthesis problem is formulated as a constraint optimization problem, while adaptive inertia weight particle swarm optimization (AIW-PSO) approach is used to carry out the solutions. Biomechanical and industrial applications for the mechanism are suggested and investigated by simulations as case studies. To demonstrate the effectiveness of AIW-PSO on the problem, a comparison with two other well-known metaheuristic algorithms namely PSO and genetic algorithm is done. The results show the efficiency of the proposed algorithm and the performance of the mechanism.

show abstract

Section: Synthesis Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal kinematic design of a single-DOF planar grasper based on metaheuristic optimization

Eqra

Taghvaei

Vatankhah

2019

J Braz. Soc. Mech. Sci. Eng.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Under the given initial ranges of the link lengths (initial ranges are shown in Table 1), according to Eqs. (1)- (22), the feasible ranges of the link lengths can be obtained. The second step is to take these feasible ranges as input, so as to make the target points approach the reference points.…”

Section: Examplementioning

confidence: 99%

“…2.3, which are given in According to Eqs. (1)- (22), a set of feasible solution is given in Table 6, and the corresponding configuration is shown in Fig. 10.…”

Section: Differences In Closed-loop Formsmentioning

confidence: 99%

“…For the design method of one-DOF mechanism, how to determine the link lengths to make the positions or attitudes of the output components meet the requirements is the focus of the research. For the four-bar mechanism, a lot of research results have been obtained in the generation of three positions [10,22] and four or five positions [8,9,29]. In order to further improve the accuracy of the generated trajectory, Plecnik et al [21] presented a direct solution of the kinematic synthesis equations for Stephenson III six-bar function generators to achieve as many as 11 accuracy points.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design method of one-DOF bio-inspired mechanism based on layered constraint conditions

Zhang

Liao

Zhao

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

Bio-inspired mechanism not only needs to be able to reproduce the movement laws of creature, but also has its shape. In order to simplify the design process and improve the design efficiency of one-degree-of-freedom (DOF) bio-inspired mechanism (especially six-bar or eight-bar mechanism), a design method based on layered constraint conditions is proposed in this paper. On the basis of the one-DOF kinematic chain, the frame is selected and the links are added in turn. At the same time, the constraint conditions are given in layers in the form of inequalities. When a closed loop is formed, the kinematic model needs to be established, and the positions of the target points or the attitudes of the target links can be represented by the driving angles or given angles. Thus, the feasible configurations and the ranges of the link lengths can be obtained. By cycling the above process, the target points can approach the reference points quickly and the design efficiency of the mechanism can be improved. The effect of the different basic kinematic chain, closed-loop forms and constraint conditions on configurations and design efficiency is analyzed in detail. It provides a reference for the design of other one-DOF mechanisms with multiple constraint conditions.

show abstract