Design and Performance Analysis of a Parallel Mechanism Based Virtual Biomechanical Shoulder Robot Model
Shah M.F. Hussain F. Jamwal P.K. Hussain S.
2024Institute of Electrical and Electronics Engineers Inc.
M2VIP - Proceedings of the International Conference on Mechatronics and Machine Vision in Practice
2024Issue 2024
The human shoulder complex provides an extensive spectrum of motion to the human upper arm, facilitating the accomplishment of the active daily life tasks. The in-silico musculoskeletal models presented in the literature can be used to study the associated kinematic parameters with the human shoulder. These models aid in the designing and control of rehabilitation robots. These models are sometimes oversimplified thus compromising their usage. This paper presents a Virtual 6-4 Parallel Biomechanical Shoulder Robot Model (VBSRM) as a musculoskeletal model. The kinematic model of the proposed VBSRM is developed. Performance metric such as condition number is identified to study the workspace of the VBSRM. A singularity analysis of the robots Jacobian matrix was carried out to avoid a possible singular design. In order to obtain the maximum workspace and optimal design of the VBSRM, design optimization was carried out using genetic algorithm. This proposed optimal design can be used in the shoulder functioning evaluations.
Condition number , Optimization , Parallel Mechanism , Shoulder , Workspace
Text of the article Перейти на текст статьи
University of Canberra, Faculty of Science & Technology, Canberra, Australia
Nazarbayev University, Department of Electrical & Computer Engineering, Astana, Kazakhstan
University of Canberra
Nazarbayev University
10 лет помогаем публиковать статьи Международный издатель
Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026