Gravity Torque Balancing Device’s Optimization Design of Prosthesis’s Shoulder Based on Nonlinear Programming Genetic Algorithm

Bing Hui Fan; Cheng Zhi Yuan; Feng Min

doi:10.4028/www.scientific.net/AMM.215-216.479

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 215-216Gravity Torque Balancing Device’s Optimization...

Gravity Torque Balancing Device’s Optimization Design of Prosthesis’s Shoulder Based on Nonlinear Programming Genetic Algorithm

Abstract:

Robot prosthesis has 6 degrees of freedom, including outward swinging and forward and backward swinging, which are droved by servo motors. In order to reduce the servo motors’ driving torque, a gas spring was added on shoulder to balance the gravity torque. In this paper, the difference between gravity torque and balanced torque was created and taken as optimized object firstly, and then a mathematical model was created and Matlab program on the base of nonlinear programming genetic algorithm were made for obtaining the optimum, lastly the simulation model and optimizing process diagrams were outputted.

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Periodical:

Applied Mechanics and Materials (Volumes 215-216)

Pages:

479-483

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.215-216.479

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Online since:

November 2012

Authors:

Bing Hui Fan*, Cheng Zhi Yuan, Feng Min

Keywords:

Gas Spring, MATLAB, Nonlinear Programming Genetic Algorithm, Optimization Design, Robot Prosthesis

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* - Corresponding Author

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