Performance-based design synthesis and analysis of a 6-4 UPS parallel mechanism based virtual biomechanical shoulder robot model
Shah M.F. Jamwal P.K. Goecke R. Ghayesh M.H. Hussain S.
2025Taylor and Francis Ltd.
Mechanics Based Design of Structures and Machines
2025#53Issue 85449 - 5469 pp.
The human shoulder complex provides a broad range of motions for the upper arm and existing in-silico musculoskeletal models can be used to study the associated kinematic parameters. These models are also quite useful in the design of suitable control systems for rehabilitation robots. However, to save the time consumed in the control-related computations, normally these musculoskeletal models are required to be simplified compromising their versatility. In this article, a Virtual 6-4 Parallel Biomechanical Shoulder Robot Model (VBSRM) is proposed to be used as a musculoskeletal model for a shoulder rehabilitation robot. The kinematic model of the proposed VBSRM is developed and validated by a case study. A singularity analysis of the robot’s Jacobian matrix was carried out to avoid a possible singular VBSRM design. Wrench analysis and structural design analysis were conducted to obtain actuator forces and dynamic stiffness behavior of the VBSRM respectively. Finally, an optimal design of the parallel mechanism of the VBSRM was obtained using genetic algorithm (GA), while establishing a tradeoff between various performance indices. This optimal design is that used to evaluate the workspace of the proposed VBSRM. This optimal design can further be used in studying the dynamics of the proposed VBSRM and shoulder functioning evaluations.
condition number , parallel mechanism , Shoulder , singularity , workspace , wrench
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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, Australia
School of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia
Human-Centered Technology Research Centre
Department of Electrical and Computer Engineering
School of Systems and Computing
School of Electrical and Mechanical Engineering
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