Int. J. of Mechanisms and Robotic Systems   »   2018 Vol.4, No.2

 

 

Title: Dimensional optimisation of a 3-DoF spherical parallel manipulator for rehabilitation by using firefly algorithm

 

Authors: Özgün Selvi; Samet Yavuz

 

Addresses:
Department of Mechanical Engineering, Çankaya University, Yukarıyurtçu Mahallesi Mimar Sinan Caddesi, No. 4, Ankara, 06790, Turkey
Department of Mechanical Engineering, Çankaya University, Yukarıyurtçu Mahallesi Mimar Sinan Caddesi, No. 4, Ankara, 06790, Turkey

 

Abstract: This study deals with the dimensional optimisation problem of a 3-DoF 3-legged spherical parallel robot with a desired workspace, which was planned to be used as a rehabilitation robot for human wrist. The movement of the end-effector will provide all degrees of freedom (DoFs) of human wrist joint. Each leg of manipulator has two spherical links and all joint axes on these links are intersecting on a common point. Inverse kinematics equations are solved and Jacobian matrices are obtained for this mechanism to obtain an objective function for optimisation algorithm. Later, the architectural optimisation with desired workspace are made by using Firefly Algorithms. Finally, a simulation was done to test the obtained dimensional parameters in desired workspace.

 

Keywords: rehabilitation robotics; parallel rehabilitation manipulator; Firefly Algorithm.

 

DOI: 10.1504/IJMRS.2018.10011454

 

Int. J. of Mechanisms and Robotic Systems, 2018 Vol.4, No.2, pp.107 - 119

 

Date of acceptance: 07 Sep 2017
Available online: 01 Mar 2018

 

 

Editors Full text accessAccess for SubscribersPurchase this articleComment on this article