A parallel mechanism-based virtual biomechanical shoulder robot model: Mechanism design optimization and motion planning
Shah M.F. Jamwal P.K. Goecke R. Niyetkaliyev A.S. Hussain S.
2025Taylor and Francis Ltd.
Mechanics Based Design of Structures and Machines
2025#53Issue 42744 - 2764 pp.
This paper presents the design and optimization process of a Virtual Biomechanical Shoulder Robot Model (VBSRM) based on a 6-4 parallel mechanism. To address the challenges posed by parallel manipulators and the specific biomechanical constraints of the shoulder joint, a comprehensive design analysis is conducted. First, a kinematic model of the VBSRM is developed, followed by an investigation of its geometric model. To obtain an optimal VBSRM design, performance objectives such as condition number, norm of actuator force, and stiffness are identified and optimized. Initially, only condition number of the robot mechanism is optimized using Genetic Algorithm and performance objectives from the optimal design are analyzed. Later, the three objectives are grouped to form a single function and a single objective-based optimization is also conducted. However, further investigation revealed the conflicting nature of the objectives and hence these were simultaneously optimized using the Non-dominated Sorting Genetic Algorithm (NSGA II). The results obtained from various optimization routines are compared and it is found that the results from the NSGA II provide a better tradeoff between the performance objectives. The motion trajectories from the optimal design of the VBSRM are later analyzed vis-à-vis human shoulder motions for its intended use as a robotic model of the human shoulder joint in various applications.
condition number , design optimization , Multi-Objective optimization , nondominated Sorting Genetic Algorithm , Parallel robots , shoulder
Text of the article Перейти на текст статьи
Human-Centered Technology Research Centre, School of Information Technology and Systems, University of Canberra, Canberra, ACT, Australia
Department of Electrical and Computer Engineering, Nazarbayev University, Astana, Kazakhstan
School of Systems and Computing, University of New South Wales, Canberra, ACT, Australia
School of Engineering and Digital Sciences, Nazarbayev University, Astana, Kazakhstan
Human-Centered Technology Research Centre
Department of Electrical and Computer Engineering
School of Systems and Computing
School of Engineering and Digital Sciences
10 лет помогаем публиковать статьи Международный издатель
Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026