Abstract

This research is geared towards shaping, simulating, designing and developing a movement system, which is based on the principles of the Stewart platform. From the point of view of mobility, it is considered a modified Stewart platform so that as mobility increases, the positions of the static and movable points of the platform change until a form compatible with the human shoulder is reached. Using modelling and simulation, the operation of the modified platform and its compatibility with the human shoulder are justified. To make the real model, there have been used technically and economically accessible materials, to obtain a low-cost product. Unlike the classic Stewart platform, the approach covered by this paper is to simplify, by horizontal optimization, the motion system so that it can synthesize the movement of the shoulder joint, with degrees of freedom similar to the human shoulder, while simultaneously maintaining a reliable force level. The main purpose of this work is to reproduce, first by design, then by calculation, a physical model of the biological mechanism of the shoulder. The model designed in this research replaces the muscles with wires and actuators. In this process, the selection and arrangement of components was simplified in positioning and as number, favoring anatomical mimicry. There was studied and constructed the mechanism according to the anatomical descriptions, which were described from a medical point of view, and there can be noticed that by applying technical mechanics, results the same kind of movements, but not necessarily the same type of joint.

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