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.
International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.2, pp.107 - 119
Available online: 01 Mar 2018Full-text access for editors Access for subscribers Purchase this article Comment on this article