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.2018.090276

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

Received: 26 Nov 2016
Accepted: 07 Sep 2017
Published online: 07 Mar 2018 *

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